diff --git a/geometry/proximity_properties.h b/geometry/proximity_properties.h index 28b34db76583..a1a50afae76f 100644 --- a/geometry/proximity_properties.h +++ b/geometry/proximity_properties.h @@ -54,9 +54,8 @@ extern const char* const kPointStiffness; ///< Point stiffness property - differentiating between a rigid and compliant geometry - accounting for differences between tessellated meshes and half spaces. - @todo Add reference to discussion of hydroelastic proximity properties along - the lines of "For the full discussion of preparing geometry for use in the - hydroelastic contact model, see `@ref MODULE_NOT_WRITTEN_YET`. + For the full discussion of preparing geometry for use in the hydroelastic + contact model, see @ref creating_hydro_reps. */ //@{ @@ -116,10 +115,9 @@ void AddContactMaterial( parameter that guides the level of mesh refinement. It has length units (in meters) and roughly corresponds to a typical edge length in - the resulting mesh. - See @ref MODULE_NOT_WRITTEN_YET. This will be - ignored for geometry types that don't require - tessellation. + the resulting mesh. See @ref hug_properties. + This will be ignored for geometry types that don't + require tessellation. @param[in,out] properties The properties will be added to this property set. @throws std::exception If `properties` already has properties with the names that this function would need to add. @@ -129,26 +127,26 @@ void AddRigidHydroelasticProperties(double resolution_hint, /** Overload, intended for shapes that don't get tessellated in their hydroelastic representation (e.g., HalfSpace and Mesh). - See @ref MODULE_NOT_WRITTEN_YET. */ + See @ref hug_properties. */ void AddRigidHydroelasticProperties(ProximityProperties* properties); -// TODO(SeanCurtis-TRI): Add module that explains resolution hint and reference -// it in the documentation below. /** Adds properties to the given set of proximity properties sufficient to cause the associated geometry to generate a compliant hydroelastic representation. The geometry's pressure field will be the function p(e) = Ee, where E is the hydroelastic modulus stored in the given `properties`. - @param resolution_hint If the geometry is to be tessellated, it is the - parameter that guides the level of mesh - refinement. It has length units (in meters) and - roughly corresponds to a typical edge length in - the resulting mesh. This will be ignored for - geometry types that don't require tessellation. - @param hydroelastic_modulus A multiplier that maps penetration to pressure. - @param[in,out] properties The properties will be added to this property set. - @throws std::exception If `properties` already has properties with the - names that this function would need to add. + @param resolution_hint If the geometry is to be tessellated, it is the + parameter that guides the level of mesh + refinement. It has length units (in meters) and + roughly corresponds to a typical edge length in + the resulting mesh. See @ref hug_properties. + This will be ignored for geometry types that don't + require tessellation. + @param hydroelastic_modulus A multiplier that maps penetration to pressure. See + @ref hug_properties. + @param[in,out] properties The properties will be added to this property set. + @throws std::exception If `properties` already has properties with the + names that this function would need to add. @pre 0 < `resolution_hint` < ∞, 0 < `hydroelastic_modulus`, and `properties` is not nullptr. */ void AddCompliantHydroelasticProperties(double resolution_hint, @@ -162,7 +160,8 @@ void AddCompliantHydroelasticProperties(double resolution_hint, @param slab_thickness The distance from the half space boundary to its rigid core (this helps define the extent field of the half space). - @param hydroelastic_modulus A multiplier that maps penetration to pressure. + @param hydroelastic_modulus A multiplier that maps penetration to pressure. See + @ref hug_properties. @param[out] properties The properties will be added to this property set. @throws std::exception If `properties` already has properties with the names that this function would need to add. diff --git a/multibody/parsing/parsing_doxygen.h b/multibody/parsing/parsing_doxygen.h index 9f4d8a0e3a95..e85524f504d4 100644 --- a/multibody/parsing/parsing_doxygen.h +++ b/multibody/parsing/parsing_doxygen.h @@ -279,7 +279,7 @@ drake::geometry::CollisionFilterDeclaration::ExcludeWithin()). If present, this element sets the compliance type of the element being defined to be compliant, as opposed to rigid, in hydroelastic contact models. -@see @ref tag_drake_proximity_properties, @ref MODULE_NOT_WRITTEN_YET +@see @ref tag_drake_proximity_properties, @ref creating_hydro_reps @subsection tag_drake_damping drake:damping @@ -386,7 +386,7 @@ under `(hydroelastic, hydroelastic_modulus)`. @see drake::geometry::ProximityProperties, @ref mbp_hydroelastic_materials_properties "Hydroelastic contact", -@ref MODULE_NOT_WRITTEN_YET +@ref hug_properties @subsection tag_drake_ignored_collision_filter_group drake:ignored_collision_filter_group @@ -468,7 +468,7 @@ exact semantics depend on the geometry being generated. Within some practical limits, smaller values will select shorter edge lengths and a finer mesh, larger values will select longer edge lengths and a coarser mesh. -@see @ref tag_drake_proximity_properties, @ref MODULE_NOT_WRITTEN_YET +@see @ref tag_drake_proximity_properties, @ref hug_properties @subsection tag_drake_mu_dynamic drake:mu_dynamic @@ -572,7 +572,7 @@ drake::geometry::ProximityProperties If present, this element sets the compliance type of the element being defined to be rigid, as opposed to compliant, in hydroelastic contact models. -@see @ref tag_drake_proximity_properties, @ref MODULE_NOT_WRITTEN_YET +@see @ref tag_drake_proximity_properties, @ref creating_hydro_reps @subsection tag_drake_rotor_inertia drake:rotor_inertia