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RobotLocomotion / drake

Model-based design and verification for robotics.
https://drake.mit.edu
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[multibody] Consolidate MbP geometry contact caching #21608

Closed jwnimmer-tri closed 5 days ago

jwnimmer-tri commented 1 week ago

There is nowhere in the plant or its helpers that only ever needs a subset of the geometry contacts. Putting all of the contact geometry into a single struct is an order of magnitude simpler.

Towards #21597 and therefore also #20545.

Originally, I had planned on consolidating this all the way up into the SceneGraph as an output port (#21568), but this smaller first step is probably best.

This change is Reviewable

jwnimmer-tri commented 5 days ago

+@SeanCurtis-TRI for platform review per schedule, please.