[fem] Move DeformableBodyConfig out of dev (RobotLocomotion#17108)

LwinMoeAung · May 9, 2022 · 38086c0 · 38086c0
1 parent 1b2aa38
commit 38086c0
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Showing 4 changed files with 26 additions and 25 deletions.
diff --git a/multibody/fem/BUILD.bazel b/multibody/fem/BUILD.bazel
@@ -21,6 +21,7 @@ drake_cc_package_library(
         ":corotated_model",
         ":corotated_model_data",
         ":damping_model",
+        ":deformable_body_config",
         ":deformation_gradient_data",
         ":dirichlet_boundary_condition",
         ":discrete_time_integrator",
@@ -131,6 +132,16 @@ drake_cc_library(
     ],
 )
 
+drake_cc_library(
+    name = "deformable_body_config",
+    hdrs = [
+        "deformable_body_config.h",
+    ],
+    deps = [
+        "//common:essential",
+    ],
+)
+
 drake_cc_library(
     name = "deformation_gradient_data",
     srcs = [
@@ -509,6 +520,13 @@ drake_cc_googletest(
     ],
 )
 
+drake_cc_googletest(
+    name = "deformable_body_config_test",
+    deps = [
+        ":deformable_body_config",
+    ],
+)
+
 drake_cc_googletest(
     name = "deformation_gradient_data_test",
     deps = [

diff --git a/...dy/fixed_fem/dev/deformable_body_config.h → multibody/fem/deformable_body_config.h b/...dy/fixed_fem/dev/deformable_body_config.h → multibody/fem/deformable_body_config.h
@@ -21,7 +21,12 @@ enum class MaterialModel {
 };
 
 /** %DeformableBodyConfig stores the physical parameters for a deformable body.
- It contains the following fields with their corresponding valid ranges:
+ A default constructed configuration approximately represents a hard rubber
+ material (density, elasticity, and poisson's ratio) without any damping.
+ Damping coefficients are generally difficult to measure and we expect users
+ will typically start with zero damping and tune the values to achieve
+ reasonable dynamics.
+ The config contains the following fields with their corresponding valid ranges:
  - Young's modulus: Measures the stiffness of the material, has unit N/m². Must
    be positive. Default to 1e8.
  - Poisson's ratio: Measures the Poisson effect (how much the material expands
@@ -38,12 +43,7 @@ enum class MaterialModel {
  - Material model: The constitutive model that describes the stress-strain
    relationship of the body, see MaterialModel. Default to
    MaterialModel::kCorotated.
-
- A default constructed configuration approximately represents a hard rubber
- material (density, elasticity, and poisson's ratio) without any damping.
- Damping coefficients are generally difficult to measure and we expect users
- will typically start with zero damping and tune the values to achieve
- reasonable dynamics. */
+ @tparam_nonsymbolic_scalar */
 template <typename T>
 class DeformableBodyConfig {
  public:

diff --git a/...m/dev/test/deformable_body_config_test.cc → ...y/fem/test/deformable_body_config_test.cc b/...m/dev/test/deformable_body_config_test.cc → ...y/fem/test/deformable_body_config_test.cc
@@ -1,4 +1,4 @@
-#include "drake/multibody/fixed_fem/dev/deformable_body_config.h"
+#include "drake/multibody/fem/deformable_body_config.h"
 
 #include <gtest/gtest.h>
 

diff --git a/multibody/fixed_fem/dev/BUILD.bazel b/multibody/fixed_fem/dev/BUILD.bazel
@@ -11,16 +11,6 @@ package(
     default_visibility = ["//visibility:private"],
 )
 
-drake_cc_library(
-    name = "deformable_body_config",
-    hdrs = [
-        "deformable_body_config.h",
-    ],
-    deps = [
-        "//common:essential",
-    ],
-)
-
 drake_cc_library(
     name = "deformable_contact",
     srcs = ["deformable_rigid_mesh_intersection.cc"],
@@ -131,13 +121,6 @@ drake_cc_googletest(
     ],
 )
 
-drake_cc_googletest(
-    name = "deformable_body_config_test",
-    deps = [
-        ":deformable_body_config",
-    ],
-)
-
 drake_cc_googletest(
     name = "deformable_contact_test",
     deps = [