[multibody] Filter geometry contacts in MbP not DUM

RobotLocomotion / drake

Model-based design and verification for robotics.

https://drake.mit.edu

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[multibody] Filter geometry contacts in MbP not DUM #21611

Closed jwnimmer-tri closed 4 days ago

jwnimmer-tri commented 6 days ago

Towards #21623 and therefore also #20545.

This change is

jwnimmer-tri commented 5 days ago

FYI @joemasterjohn This is the filtering change I mentioned in #21608. I will probably ask you to review, once it's ready. (It might already be ready now, but I haven't done my own self-review in detail yet, so possibly there are still some missing pieces / cleanups.)

jwnimmer-tri commented 5 days ago

Okay, maybe ready now.

+@joemasterjohn you have right of first refusal for feature review, here. Please let me know if you want to take a look, or else we can pop it over to Sherm.

jwnimmer-tri commented 4 days ago

Sean is going to platform review -@ggould-tri +@SeanCurtis-TRI.