polygon_surface_mesh_field.h

#pragma once

#include "drake/geometry/proximity/mesh_field_linear.h"
#include "drake/geometry/proximity/polygon_surface_mesh.h"

namespace drake {
namespace geometry {

/** A convenience alias for instantiating a MeshFieldLinear on a
 PolygonSurfaceMesh.
 @tparam FieldValue  A valid Eigen scalar or vector of valid Eigen scalars for
                     the field value.
 @tparam T  A valid Eigen scalar for mesh coordinates.
 */
template <typename FieldValue, typename T>
using PolygonSurfaceMeshFieldLinear =
    MeshFieldLinear<FieldValue, PolygonSurfaceMesh<T>>;

// The homogeneous instances are sufficiently common in Drake, that we'll
// build them once. Types with mixed scalars, or a *vector* mesh field type will
// be compiled as needed, but if they become common, they can be added here.
extern template class MeshFieldLinear<double, PolygonSurfaceMesh<double>>;
extern template class MeshFieldLinear<AutoDiffXd,
                                      PolygonSurfaceMesh<AutoDiffXd>>;

}  // namespace geometry
}  // namespace drake