We propose the Signed Distance Field enhanced Virtual Element Method (SDF-VEM), which is a virtual element method (VEM) variant able to model large deformation frictional contact problems in flexible multi-body system, with signed distance field (SDF) enhanced as a geometrical tool. Polygonal elements inherent in the VEM with a variable number of nodes and arbitrary shapes, allowing for a node-to-node contact enforcement through adaptive node insertion and adjustment. Addressing the complexity of contact detection scenarios in multi-body system, arising from the numerous bodies and irregular shapes involved, we introduce a unified SDF-enhanced contact detection framework. Various numerical examples including standard cases and finite strain elasto-plastic contact are shown.