Stop relying on incompatible_legacy_whole_archive

[EricCousineau-TRI]

See PR #12124

Things break for shared libraries (at least our formulation)?

EDIT: Slack convo: https://drakedevelopers.slack.com/archives/C2PMBJVAN/p1569944216009500

\cc @jwnimmer-tri

[jwnimmer-tri]

Yes, we need --incompatible_remove_legacy_whole_archive=false as a stopgap, and then some alwayslink = 1 repairs to pydrake later in order to undo that flag.

[EricCousineau-TRI]

We've worked around this via #12150, so closing this for now.
Descoping this issue from actually upgrading 1.0.0 across the board, just to focus on the Mac upgrade as well as Python uprgade.

[jwnimmer-tri]

Where is the tracking issue to remove --incompatible_remove_legacy_whole_archive=false as a requirement in our rcfiles? Users who consume us like bazel_drake_external currently have a pain point where they need to change their own project in order to consume Drake.

(I would like to see us remove that flag in the next few weeks.)

[EricCousineau-TRI]

SGTM. Reopening, but lowering priority.

[jwnimmer-tri]

@EricCousineau-TRI The other, more important build system transitions seem to be making good progress. I'd like to see this issue fixed prior to the v0.12 release (so, merged to master in the next week or so). If that's not possible, please re-assign this issue to me to work on it.

[EricCousineau-TRI]

Spoke with @jamiesnape and it'd be feasible, but not in time for 0.12 release. I'll reassign to you for the time being. Thanks!

[jwnimmer-tri]

For the record, trying to fix this has uncovered several challenges. I don't think it will make the v0.12.0 release cycle.