Documentation: RobotLocomotion/drake@1bb8018

doxygen_cxx/classdrake_1_1multibody_1_1_multibody_plant.html

@@ -1322,10 +1322,10 @@ <h4>MultibodyPlant names vs. SceneGraph names In MultibodyPlant, frame names onl
 <tr class="memdesc:af8d22b1c85942ae7154079cfef28254a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns a mutable reference to the <a class="el" href="classdrake_1_1multibody_1_1_deformable_model.html" title="DeformableModel implements the interface in PhysicalModel and provides the functionalities to specify...">DeformableModel</a> owned by this plant.  <a href="#af8d22b1c85942ae7154079cfef28254a">More...</a><br /></td></tr>
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 <tr class="memitem:a1e5e058b968b927f6342a8127aea663a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdrake_1_1multibody_1_1_multibody_plant.html#a1e5e058b968b927f6342a8127aea663a">set_penetration_allowance</a> (<a class="el" href="classdouble.html">double</a> penetration_allowance=<a class="el" href="structdrake_1_1multibody_1_1_multibody_plant_config.html">MultibodyPlantConfig</a>{}.penetration_allowance)</td></tr>
-<tr class="memdesc:a1e5e058b968b927f6342a8127aea663a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the penetration allowance used to estimate the coefficients in the penalty method used to impose non-penetration among bodies.  <a href="#a1e5e058b968b927f6342a8127aea663a">More...</a><br /></td></tr>
+<tr class="memdesc:a1e5e058b968b927f6342a8127aea663a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets a penetration allowance used to estimate the point contact stiffness and Hunt &amp; Crossley dissipation parameters.  <a href="#a1e5e058b968b927f6342a8127aea663a">More...</a><br /></td></tr>
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 <tr class="memitem:a3338392f611d5d9f93d0ea90e172c68c"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classdouble.html">double</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdrake_1_1multibody_1_1_multibody_plant.html#a3338392f611d5d9f93d0ea90e172c68c">get_contact_penalty_method_time_scale</a> () const</td></tr>
-<tr class="memdesc:a3338392f611d5d9f93d0ea90e172c68c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns a time-scale estimate <code>tc</code> based on the requested penetration allowance δ set with <a class="el" href="classdrake_1_1multibody_1_1_multibody_plant.html#a1e5e058b968b927f6342a8127aea663a" title="Sets the penetration allowance used to estimate the coefficients in the penalty method used to impose...">set_penetration_allowance()</a>.  <a href="#a3338392f611d5d9f93d0ea90e172c68c">More...</a><br /></td></tr>
+<tr class="memdesc:a3338392f611d5d9f93d0ea90e172c68c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns a time-scale estimate <code>tc</code> based on the requested penetration allowance δ set with <a class="el" href="classdrake_1_1multibody_1_1_multibody_plant.html#a1e5e058b968b927f6342a8127aea663a" title="Sets a penetration allowance used to estimate the point contact stiffness and Hunt &amp; Crossley dissipa...">set_penetration_allowance()</a>.  <a href="#a3338392f611d5d9f93d0ea90e172c68c">More...</a><br /></td></tr>
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 <tr class="memitem:afa94cf2eeba3e27ad35132211ae6d074"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdrake_1_1multibody_1_1_multibody_plant.html#afa94cf2eeba3e27ad35132211ae6d074">set_stiction_tolerance</a> (<a class="el" href="classdouble.html">double</a> v_stiction=<a class="el" href="structdrake_1_1multibody_1_1_multibody_plant_config.html">MultibodyPlantConfig</a>{}.<a class="el" href="classdrake_1_1multibody_1_1_multibody_plant.html#a0cef6f48aa258bbb487ab62cec437cb8">stiction_tolerance</a>)</td></tr>
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-<p>Returns a time-scale estimate <code>tc</code> based on the requested penetration allowance δ set with <a class="el" href="classdrake_1_1multibody_1_1_multibody_plant.html#a1e5e058b968b927f6342a8127aea663a" title="Sets the penetration allowance used to estimate the coefficients in the penalty method used to impose...">set_penetration_allowance()</a>. </p>
+<p>Returns a time-scale estimate <code>tc</code> based on the requested penetration allowance δ set with <a class="el" href="classdrake_1_1multibody_1_1_multibody_plant.html#a1e5e058b968b927f6342a8127aea663a" title="Sets a penetration allowance used to estimate the point contact stiffness and Hunt &amp; Crossley dissipa...">set_penetration_allowance()</a>. </p>
 <p>For the compliant contact model to enforce non-penetration, this time scale relates to the time it takes the relative normal velocity between two bodies to go to zero. This time scale <code>tc</code> is a global estimate of the dynamics introduced by the compliant contact model and goes to zero in the limit to ideal rigid contact. Since numerical integration methods for continuum systems must be able to resolve a system's dynamics, the time step used by an integrator must in general be much smaller than the time scale <code>tc</code>. How much smaller will depend on the details of the problem and the convergence characteristics of the integrator and should be tuned appropriately. Another factor to take into account for setting up the simulation's time step is the speed of the objects in your simulation. If <code>vn</code> represents a reference velocity scale for the normal relative velocity between bodies, the new time scale <code>tn = δ / vn</code> represents the time it would take for the distance between two bodies approaching with relative normal velocity <code>vn</code> to decrease by the penetration_allowance δ. In this case a user should choose a time step for simulation that can resolve the smallest of the two time scales <code>tc</code> and <code>tn</code>. </p>
 
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-<p>Sets the penetration allowance used to estimate the coefficients in the penalty method used to impose non-penetration among bodies. </p>
+<p>Sets a penetration allowance used to estimate the point contact stiffness and Hunt &amp; Crossley dissipation parameters. </p>
 <p>Refer to the section <a class="el" href="group__compliant__contact.html#point_contact_defaults">Point Contact Default Parameters</a> for further details.</p>
+<dl class="section warning"><dt>Warning</dt><dd>This will be deprecated. Prefer using defaults specified in <a class="el" href="structdrake_1_1geometry_1_1_default_proximity_properties.html" title="These properties will be used as defaults when the geometry as added via API calls or parsed from mod...">geometry::DefaultProximityProperties</a>.</dd>
+<dd>
+Values provided in <a class="el" href="structdrake_1_1geometry_1_1_default_proximity_properties.html" title="These properties will be used as defaults when the geometry as added via API calls or parsed from mod...">geometry::DefaultProximityProperties</a> have precedence. If values estimated based on penetration allowance are desired, set defaults in <a class="el" href="structdrake_1_1geometry_1_1_default_proximity_properties.html" title="These properties will be used as defaults when the geometry as added via API calls or parsed from mod...">geometry::DefaultProximityProperties</a> to std::nullopt.</dd></dl>
 <dl class="exception"><dt>Exceptions</dt><dd>
   <table class="exception">
     <tr><td class="paramname">std::exception</td><td>if penetration_allowance is not positive. </td></tr>