/** @file
 Doxygen-only documentation for @ref module_penetration_queries.  */

namespace drake {
namespace geometry {
namespace proximity {

/** @addtogroup module_penetration_queries
 Penetration queries report all pairs of intersecting geometries and differ
 in how they characterize the penetration. They include:

   - report penetrations as point pairs
   - @ref module_contact_surface "report penetrations as contact surfaces"
   - check whether there is any penetration at all

 @note This page is still under construction.

 @{
   @defgroup module_contact_surface Contact Surface
 @}

 */

}  // namespace proximity
}  // namespace geometry
}  // namespace drake
