lcmt_point_pair_contact_info_for_viz.lcm

package drake;

struct lcmt_point_pair_contact_info_for_viz {
  // TODO(edrumwri) Consider removing this data which is already present in the
  // structure in which this message is stored (lcmt_contact_results_for_viz).
  // In microseconds
  int64_t timestamp;

  // Names of the colliding bodies
  string body1_name;
  string body2_name;

  // These are all expressed in the world frame.
  double contact_point[3];
  double contact_force[3];
  double normal[3];
}