i cant speak about animals tripping from contact with a person tripping but...
mmy dog is my companion for every trip. whether it's at my place, my girl's or some random friend's place, he's with me. he knows when daddy's fucked up. he picks up on my energy. during lift off (when all the nerves and anxiety are present) he gets very weird. acts like he's ready to fight. my girl has a pitbull and a couple trips ago, my girl was having a "bad trip" (she's very new to psychedelics and doesn't know how to handle them quite so well yet), everytime she would hit the panic part of the cycle (what time is it? how much did i take? will i stay like this? all the fear), the dogs went crazy. raised their hackles. started growling at each other.i had to keep them from fighting a couple times.
this, too, i'm sure, was a result of her ego fighting mine. everything i had told her about the trip (how life is, how everyuthing's a dream, all the shit that takes us years to learn), she thought i was wrong and could find a way around the truth so her ego fought mine. well, in my opinion...your dog is an extension of your ego. her ego was fighting mine, her dog wanted to fight mine.
whenever i hit an altered state, my dog will look at me funny and kinda shy away. after i peak, however, my dog wants to love all over me and spend time with me. i've peeled my onion around him so many times, him and i have a special bond. also, as i've seen others say, you do have a hightened sense of awareness that allows you more insight into your animals behavior.
but...IME...animals won't trip out cuz you touched them but they will know when you're altered and will act differently towards you. especially your own animal vs someone else's. my dog knows me and how i act. other dogs don't. like i said...my dog knows when daddy's intalksickated...