[geometry] Adds new compliant mesh intersection code

RobotLocomotion · Nov 14, 2024 · d7a3133 · d7a3133
1 parent 98b3b75
commit d7a3133
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Showing 8 changed files with 435 additions and 142 deletions.
diff --git a/geometry/proximity/BUILD.bazel b/geometry/proximity/BUILD.bazel
@@ -349,11 +349,15 @@ drake_cc_library(
     deps = [
         ":bvh",
         ":contact_surface_utility",
+        ":hydroelastic_internal",
         ":mesh_field",
         ":mesh_intersection",
         ":mesh_plane_intersection",
         ":plane",
         ":posed_half_space",
+        ":triangle_surface_mesh",
+        ":volume_mesh_topology",
+        ":volume_to_surface_mesh",
         "//common:default_scalars",
         "//geometry/query_results:contact_surface",
     ],