package drake;

struct lcmt_contact_results_for_viz {
  // in microseconds
  int64_t timestamp;

  int32_t num_point_pair_contacts;
  lcmt_point_pair_contact_info_for_viz point_pair_contact_info[
      num_point_pair_contacts];

  int32_t num_hydroelastic_contacts;
  lcmt_hydroelastic_contact_surface_for_viz hydroelastic_contacts[
      num_hydroelastic_contacts];
}
