[multibody] Remove more ad hoc topology in favor of SpanningForest #23450
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@drake-jenkins-bot retest this please |
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Killed unused AddMobilizer() overload. Still need to remove RigidBodyTopology, MobilizerTopology, and probably FrameTopology. Watch out for cloning of new fields.
Still need to get rid of MobilizerTopology altogether.
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[WIP, don't review]
This addresses the first two tasks in #23245.
When finished it will remove {RigidBody,Mobilizer,Frame}Topology classes and maybe more.
All substantive changes are internal.
This change is