contact_surface_utility.h File Reference

Detailed Description

There are multiple ways to compute a contact surface depending on the geometry representations and compliance types involved.

However, they should all produce ContactSurface instances that satisfy some basic invariants. These functions assist in maintaining those invariants.

#include <memory>
#include <utility>
#include <vector>
#include "drake/geometry/proximity/polygon_surface_mesh.h"
#include "drake/geometry/proximity/polygon_surface_mesh_field.h"
#include "drake/geometry/proximity/triangle_surface_mesh.h"
#include "drake/geometry/proximity/triangle_surface_mesh_field.h"

Include dependency graph for contact_surface_utility.h:

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Namespaces
namespace	drake
namespace	drake::geometry