How to set the maximum number of contacts with Dart engine?

Question

Hello,

I am using dart as physics engine for Gazebo 9. I need to reduce the maximum number of contacts between two colliding body. In the sdf documentation, there is a “max_contacts” parameter which should set this. However, I suspect it only work with ode physics engine, because I tested different values with dart and there was no effect on the actual number of contacts.

How can I set the maximum number of contacts from a sdf file, if possible ? If it is not implemented, is there any plan for the implementation of this feature ?

thank you for your answer.

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Originally posted by Clément Rolinat on Gazebo Answers with karma: 1 on 2019-11-06

Post score: 0

Answer 1

I reported this on Gazebo issue tracker : issue 2673

edit : now that Gazebo is on github, the issue is here: issue 2673

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Originally posted by Clément Rolinat with karma: 1 on 2019-11-20

This answer was ACCEPTED on the original site

Post score: 0

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Original comments

Comment by awck on 2020-12-07:
Hi Clement, did you find a solution or workaround? Best, Alex

Comment by Clément Rolinat on 2021-03-25:
hello, sorry for the late answer, no the only "workaround" is to use the ode engine...