proximity_properties.h File Reference

Detailed Description

A collection of data types and functions to help manage defining properties for geometries with the proximity role.

These functions facilitate properties that are explicitly known in Drake's core functionality. These functions in no way limit the inclusion of any other additional, arbitrary properties.

#include <optional>
#include <ostream>
#include <string>
#include "drake/common/fmt_ostream.h"
#include "drake/geometry/geometry_roles.h"
#include "drake/multibody/plant/coulomb_friction.h"

Include dependency graph for proximity_properties.h:

This graph shows which files directly or indirectly include this file:

Namespaces
	drake
	drake::geometry

Functions
void	AddContactMaterial (std::optional< double > dissipation, std::optional< double > point_stiffness, const std::optional< multibody::CoulombFriction< double >> &friction, ProximityProperties *properties)
	AddContactMaterial() adds general contact material properties to the given set of proximity properties. More...
void	AddRigidHydroelasticProperties (double resolution_hint, ProximityProperties *properties)
	Adds properties to the given set of proximity properties sufficient to cause the associated geometry to generate a rigid hydroelastic representation. More...
void	AddRigidHydroelasticProperties (ProximityProperties *properties)
	Overload, intended for shapes that don't get tessellated in their hydroelastic representation (e.g., HalfSpace and Mesh). More...
void	AddCompliantHydroelasticProperties (double resolution_hint, double hydroelastic_modulus, ProximityProperties *properties)
	Adds properties to the given set of proximity properties sufficient to cause the associated geometry to generate a compliant hydroelastic representation. More...
void	AddCompliantHydroelasticPropertiesForHalfSpace (double slab_thickness, double hydroelastic_modulus, ProximityProperties *properties)
	Compliant half spaces are handled as a special case; they do not get tessellated. More...