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RobotLocomotion / drake

Model-based design and verification for robotics.
https://drake.mit.edu
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[multibody] HydroelasticContactInfo<Expression> is empty #21618

Closed jwnimmer-tri closed 4 days ago

jwnimmer-tri commented 5 days ago

Towards #21597 and therefore also #20545.

The large chunks of code moved from h to cc file are unchanged.

The breaking change is that any users who were calling any accessor functions (e.g., the F_Ac_W() getter) with T=Expression will fail to compile now.

This change is Reviewable

jwnimmer-tri commented 5 days ago

+@SeanCurtis-TRI for feature review, please.

jwnimmer-tri commented 4 days ago

+@ggould-tri for platform review per schedule, please.