[geometry] Add surface mesh, bvh, mapping and topology to SoftGeometry and SoftMesh#22098

Merged

xuchenhan-tri merged 1 commit intoRobotLocomotion:masterfrom joemasterjohn:soft_geometry_surface_mesh

Nov 13, 2024

+167-21

Commits on Nov 13, 2024

[geometry] Adds surface mesh, bvh, and volume mesh topology to SoftMesh.
joemasterjohn
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