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BUILD.bazel
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BUILD.bazel
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load(
"@drake//tools/skylark:drake_cc.bzl",
"drake_cc_googletest",
"drake_cc_library",
"drake_cc_package_library",
)
load("//tools/lint:lint.bzl", "add_lint_tests")
package(default_visibility = ["//visibility:public"])
drake_cc_package_library(
name = "query_results",
visibility = ["//visibility:public"],
deps = [
":contact_surface",
":deformable_contact",
":penetration_as_point_pair",
":signed_distance_pair",
":signed_distance_to_point",
],
)
drake_cc_library(
name = "penetration_as_point_pair",
srcs = [],
hdrs = ["penetration_as_point_pair.h"],
deps = [
"//common:essential",
"//geometry:geometry_ids",
],
)
drake_cc_library(
name = "signed_distance_pair",
srcs = [],
hdrs = ["signed_distance_pair.h"],
deps = [
"//common",
"//geometry:geometry_ids",
],
)
drake_cc_library(
name = "signed_distance_to_point",
srcs = [],
hdrs = ["signed_distance_to_point.h"],
deps = [
"//common",
"//geometry:geometry_ids",
],
)
drake_cc_library(
name = "contact_surface",
srcs = [
"contact_surface.cc",
],
hdrs = [
"contact_surface.h",
],
deps = [
"//common",
"//geometry:geometry_ids",
"//geometry/proximity:mesh_field",
"//math:geometric_transform",
],
)
drake_cc_library(
name = "deformable_contact",
srcs = ["deformable_contact.cc"],
hdrs = ["deformable_contact.h"],
deps = [
"//geometry:geometry_ids",
"//geometry/proximity:polygon_surface_mesh",
"//multibody/contact_solvers/sap:partial_permutation",
],
)
drake_cc_googletest(
name = "deformable_contact_test",
deps = [
":deformable_contact",
"//common/test_utilities:eigen_matrix_compare",
"//geometry/proximity:make_box_mesh",
],
)
add_lint_tests()