[geometry] Avoid slowdown of SceneGraph::GetDirectFeedthroughs() #21630
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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.
rpoyner-tri
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release notes: fix
rpoyner-tri
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Jun 26, 2024
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Closes: #21624.
+(release notes: fix) (don't do insanely slow waste work)
+@joemasterjohn for feature review.
Reviewable status: LGTM missing from assignee joemasterjohn, needs platform reviewer assigned, needs at least two assigned reviewers
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Reviewed 3 of 3 files at r1, all commit messages.
Reviewable status: LGTM missing from assignee EricCousineau-TRI(platform)
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Reviewed 3 of 3 files at r1, all commit messages.
Reviewable status:complete! all discussions resolved, LGTM from assignees EricCousineau-TRI(platform),joemasterjohn
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…otLocomotion#21630) 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.
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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