添加地平面的一种方法是
Vector3<double> normal_W(0, 0, 1);
Vector3<double> point_W(0, 0, 0);
const CoulombFriction<double> surface_friction(
0.8 /* static friction */, 0.3 /* dynamic friction */);
// A half-space for the ground geometry.
plant.RegisterCollisionGeometry(
plant.world_body(), HalfSpace::MakePose(normal_W, point_W),
HalfSpace(), "collision", surface_friction);
// Add visual for the ground.
plant.RegisterVisualGeometry(
plant.world_body(), HalfSpace::MakePose(normal_W, point_W),
HalfSpace(), "visual");
之后plant.Finalize()
plant.set_penetration_allowance(0.001);
虽然我非常想知道是否有办法通过sdf