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:

This graph shows which files directly or indirectly include this file:

Namespaces
	drake

	drake::geometry

Detailed Description

Namespaces