[multibody] GeometryContactData takes over deformable caching

RobotLocomotion / drake

Model-based design and verification for robotics.

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[multibody] GeometryContactData takes over deformable caching #21619

Closed jwnimmer-tri closed 2 days ago

jwnimmer-tri commented 5 days ago

Towards #21623 and therefore also #20545.

This change is

jwnimmer-tri commented 5 days ago

+@xuchenhan-tri this was as far as I got for today. Some tests are failing, but I haven't investigated at all yet. Possibly you could chase down the problems more quickly than me? The PR is open for pushes if you like, or just ping a comment in Reviewable is good, too. I'll probably work on landing a few other PRs before I cycle back to this one.