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Refactors SAP solver in prep for the propagation of gradients (RobotL…
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…ocomotion#21414)

There are essentially two changes:
  1. struct SolverStats is no longer nested in SapSolver but is now
     refactored to SapSolverStats.
  2. SapSolver<T>::model_ is not longer a member. A SapModel is now
     created with each call to SolveWithGuess. We pass "model" as
     needed by argument.
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@amcastro-tri @RussTedrake
amcastro-tri authored and RussTedrake committed Dec 15, 2024
1 parent 882282b commit 5825b8b
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