[multibody] Repro: joint-locking crash on World-body contact - #24772
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[multibody] Repro: joint-locking crash on World-body contact#24772xuchen-han wants to merge 1 commit into
xuchen-han wants to merge 1 commit into
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A locked joint plus a contact involving collision geometry on the World body crashes CalcGeometryContactData: its joint-locking filter indexes per-tree arrays with the World body's invalid TreeIndex, guarded only by a DRAKE_ASSERT (out-of-bounds read under NDEBUG, SIGSEGV).
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A reproduction for #24773
This change is