Use an explicit list of dependency tickets in SceneGraph to avoid a pile of useless reifications of proximity geometry. The useless work is triggered if the base class LeafSystem::GetDirectFeedthroughs() implementation falls back on its technique of making a SystemSymbolicInspector, which needs to build an Expression-typed SceneGraph context.
Use an explicit list of dependency tickets in SceneGraph to avoid a pile of useless reifications of proximity geometry. The useless work is triggered if the base class LeafSystem::GetDirectFeedthroughs() implementation falls back on its technique of making a SystemSymbolicInspector, which needs to build an Expression-typed SceneGraph context.
This change is