[tools] Switch to bazel's deps vs implementation_deps semantics (Robo…

…tLocomotion#21701)

At some point Bazel said that interface_deps vs deps was going to
be the way and the light for cc_library in the future, and then later
they changed their mind. As of today, deps are the interface deps and
implementation_deps are the implementation deps. Rewrite all of our
BUILD files and macros to match the new spelling.

Update buildifier hints for better precision.

common/BUILD.bazel

@@ -287,8 +287,7 @@ drake_cc_library(
     hdrs = ["find_cache.h"],
     internal = True,
     visibility = ["//:__subpackages__"],
-    interface_deps = [],
-    deps = [
+    implementation_deps = [
         ":essential",
     ],
 )
@@ -297,8 +296,7 @@ drake_cc_library(
     name = "find_runfiles",
     srcs = ["find_runfiles.cc"],
     hdrs = ["find_runfiles.h"],
-    interface_deps = [],
-    deps = [
+    implementation_deps = [
         ":essential",
         "@bazel_tools//tools/cpp/runfiles",
     ],
@@ -322,10 +320,10 @@ drake_cc_library(
         "//tools/cc_toolchain:linux": ["-ldl"],
         "//conditions:default": [],
     }),
-    interface_deps = [
+    deps = [
         ":essential",
     ],
-    deps = [
+    implementation_deps = [
         ":drake_marker_shared_library",
         ":find_runfiles",
     ],
@@ -339,8 +337,7 @@ drake_cc_library(
         DRAKE_RESOURCE_SENTINEL,
     ],
     visibility = ["//tools/install/libdrake:__pkg__"],
-    interface_deps = [],
-    deps = [
+    implementation_deps = [
         ":find_resource",
     ],
 )
@@ -442,10 +439,10 @@ drake_cc_library(
     hdrs = [
         "nice_type_name.h",
     ],
-    interface_deps = [
+    deps = [
         ":essential",
     ],
-    deps = [
+    implementation_deps = [
         ":nice_type_name_override_header",
     ],
 )
@@ -479,12 +476,12 @@ drake_cc_library(
     name = "random",
     srcs = ["random.cc"],
     hdrs = ["random.h"],
-    interface_deps = [
+    deps = [
         ":copyable_unique_ptr",
         ":essential",
         ":extract_double",
     ],
-    deps = [
+    implementation_deps = [
         ":autodiff",
     ],
 )
@@ -503,10 +500,10 @@ drake_cc_library(
     name = "sha256",
     srcs = ["sha256.cc"],
     hdrs = ["sha256.h"],
-    interface_deps = [
+    deps = [
         ":essential",
     ],
-    deps = [
+    implementation_deps = [
         "@picosha2_internal//:picosha2",
     ],
 )
@@ -524,10 +521,9 @@ drake_cc_library(
     name = "temp_directory",
     srcs = ["temp_directory.cc"],
     hdrs = ["temp_directory.h"],
-    interface_deps = [
+    deps = [
         ":essential",
     ],
-    deps = [],
 )
 
 # This is a Drake-internal utility for use only as a direct dependency

common/proto/BUILD.bazel

@@ -58,8 +58,7 @@ drake_cc_library(
     srcs = ["rpc_pipe_temp_directory.cc"],
     hdrs = ["rpc_pipe_temp_directory.h"],
     visibility = ["//visibility:private"],
-    interface_deps = [],
-    deps = [
+    implementation_deps = [
         "//common:essential",
     ],
 )

common/symbolic/BUILD.bazel

@@ -181,10 +181,10 @@ drake_cc_library(
         "monomial.h",
         "polynomial.h",
     ],
-    interface_deps = [
+    deps = [
         ":expression",
     ],
-    deps = [
+    implementation_deps = [
         "//math:quadratic_form",
     ],
 )
@@ -276,11 +276,11 @@ drake_cc_library(
     name = "replace_bilinear_terms",
     srcs = ["replace_bilinear_terms.cc"],
     hdrs = ["replace_bilinear_terms.h"],
-    interface_deps = [
+    deps = [
         "//common:essential",
         "//common/symbolic:expression",
     ],
-    deps = [
+    implementation_deps = [
         "//common/symbolic:polynomial",
     ],
 )

common/symbolic/expression/BUILD.bazel

@@ -45,14 +45,14 @@ drake_cc_library(
         "variable.h",
         "variables.h",
     ],
-    interface_deps = [
+    deps = [
         "//common:drake_bool",
         "//common:essential",
         "//common:hash",
         "//common:random",
         "//common:reset_after_move",
     ],
-    deps = [
+    implementation_deps = [
         "@abseil_cpp_internal//absl/container:flat_hash_set",
         "@abseil_cpp_internal//absl/container:inlined_vector",
         "@fmt",

examples/hardware_sim/BUILD.bazel

@@ -30,19 +30,19 @@ drake_cc_library(
     name = "scenario",
     srcs = ["scenario.cc"],
     hdrs = ["scenario.h"],
-    interface_deps = [
+    deps = [
         "//common:name_value",
         "//lcm:drake_lcm_params",
         "//manipulation/kuka_iiwa:iiwa_driver",
         "//manipulation/schunk_wsg:schunk_wsg_driver",
         "//manipulation/util:zero_force_driver",
-        "//multibody/plant:multibody_plant_config",
         "//multibody/parsing:model_directives",
+        "//multibody/plant:multibody_plant_config",
         "//systems/analysis:simulator_config",
         "//systems/sensors:camera_config",
         "//visualization:visualization_config",
     ],
-    deps = [
+    implementation_deps = [
         "//common/yaml",
     ],
 )

geometry/BUILD.bazel

@@ -62,7 +62,11 @@ drake_cc_library(
     hdrs = [
         "proximity_engine.h",
     ],
-    interface_deps = [
+    deps = [
+        ":geometry_ids",
+        ":geometry_roles",
+        ":internal_geometry",
+        ":shape_specification",
         "//common:default_scalars",
         "//common:sorted_pair",
         "//geometry/proximity:collision_filter",
@@ -71,12 +75,8 @@ drake_cc_library(
         "//geometry/proximity:make_mesh_from_vtk",
         "//geometry/query_results",
         "//math",
-        ":geometry_ids",
-        ":geometry_roles",
-        ":shape_specification",
-        ":internal_geometry",
     ],
-    deps = [
+    implementation_deps = [
         ":read_obj",
         ":utilities",
         "//geometry/proximity",
@@ -130,7 +130,7 @@ drake_cc_library(
     name = "drake_visualizer",
     srcs = ["drake_visualizer.cc"],
     hdrs = ["drake_visualizer.h"],
-    interface_deps = [
+    deps = [
         ":drake_visualizer_params",
         ":geometry_roles",
         ":geometry_version",
@@ -140,7 +140,7 @@ drake_cc_library(
         "//systems/framework:context",
         "//systems/framework:leaf_system",
     ],
-    deps = [
+    implementation_deps = [
         "//lcm:drake_lcm",
         "//lcmtypes:viewer",
         "//systems/lcm:lcm_system_graphviz",
@@ -165,12 +165,12 @@ drake_cc_library(
     hdrs = [
         "kinematics_vector.h",
     ],
-    interface_deps = [
+    deps = [
         ":geometry_ids",
         "//common:essential",
         "//math:geometric_transform",
     ],
-    deps = [
+    implementation_deps = [
         "//common:default_scalars",
         "//common:nice_type_name",
     ],
@@ -378,10 +378,10 @@ drake_cc_library(
     name = "read_obj",
     srcs = ["read_obj.cc"],
     hdrs = ["read_obj.h"],
-    interface_deps = [
+    deps = [
         "@eigen",
     ],
-    deps = [
+    implementation_deps = [
         "//common:essential",
         "@fmt",
         "@tinyobjloader_internal//:tinyobjloader",
@@ -392,12 +392,12 @@ drake_cc_library(
     name = "shape_specification",
     srcs = ["shape_specification.cc"],
     hdrs = ["shape_specification.h"],
-    interface_deps = [
+    deps = [
         "//common:essential",
         "//geometry/proximity:polygon_surface_mesh",
         "//math:geometric_transform",
     ],
-    deps = [
+    implementation_deps = [
         "//common:nice_type_name",
         "//common:overloaded",
         "//geometry/proximity:make_convex_hull_mesh_impl",
@@ -508,7 +508,7 @@ drake_cc_library(
         "meshcat_recording_internal.h",
         "meshcat_types_internal.h",
     ],
-    interface_deps = [
+    deps = [
         ":geometry_ids",
         ":meshcat_animation",
         ":rgba",
@@ -520,7 +520,7 @@ drake_cc_library(
         "//math:geometric_transform",
         "//perception:point_cloud",
     ],
-    deps = [
+    implementation_deps = [
         "//common:drake_export",
         "//common:find_resource",
         "//common:network_policy",

geometry/optimization/BUILD.bazel

@@ -35,11 +35,11 @@ drake_cc_library(
     name = "geodesic_convexity",
     srcs = ["geodesic_convexity.cc"],
     hdrs = ["geodesic_convexity.h"],
-    interface_deps = [
+    deps = [
         "//solvers:mathematical_program",
         "//solvers:mathematical_program_result",
     ],
-    deps = [
+    implementation_deps = [
         "//geometry/optimization:convex_set",
         "//solvers:solve",
     ],
@@ -75,13 +75,13 @@ drake_cc_library(
         "spectrahedron.h",
         "vpolytope.h",
     ],
-    interface_deps = [
+    deps = [
         "//geometry:scene_graph",
+        "//math:matrix_util",
         "//solvers:mathematical_program",
         "//solvers:mathematical_program_result",
-        "//math:matrix_util",
     ],
-    deps = [
+    implementation_deps = [
         "//geometry:read_obj",
         "//solvers:aggregate_costs_constraints",
         "//solvers:choose_best_solver",