We added a number of DRAKE_DEMANDs in SapDriver::AddContactConstraints() during a transition period in PR #20913. In that PR we explicitly loaded NANs to mark not yet supported configurations (in this case deformables + HuntCrossley contact constraints). Now that the feature is complete and those configurations are supported, these DEMANDs can go away.
We added a number of DRAKE_DEMANDs in SapDriver::AddContactConstraints() during a transition period in PR #20913. In that PR we explicitly loaded NANs to mark not yet supported configurations (in this case deformables + HuntCrossley contact constraints). Now that the feature is complete and those configurations are supported, these DEMANDs can go away.
This change is