Fix contact points

[BenjaminDeleze]

Description
I found three issues with contact points:

• Since the first wb_supervisor_node_enable_contact_points_tracking, a wb_supervisor_node_enable_contact_points_tracking or wb_supervisor_node_disable_contact_points_tracking command was sent at every timeStep. It was because we were not resetting the right boolean. This issue was present since this feature was introduced, but it was only recently made visible because of new warning messages (Improve enable/disable pose tracking API function #5638).
• The second issue is related with the changes from Fixes supervisor node python API #5633.
  • It seems that the idea was to remove the include_descendants of the wb_supervisor_node_disable_contact_points_tracking function.
  • However, we use both the solid and the include_descendants parameters to disable the tracking in the Webots side:

    webots/src/webots/nodes/utils/WbSupervisorUtilities.cpp

    Line 1286 in d995dbc

    if (mTrackedContactPoints[i].solid == solid && mTrackedContactPoints[i].includeDescendants == includeDescendants) {

  • The result is that if we use wb_supervisor_node_enable_contact_point_tracking with include_descendants = True, then it is not possible to disable it later (and worse we risk to disable the tracking of the same solid but without the descendants
  • It seems consistent (but still wrong) with the python and matlab API. However when looking in the C++ one, it turns out that its ignore the include_descendants parameter also for the enableContactPointsTracking which is a loss of functionality (but does not seem new):

    webots/src/controller/cpp/Node.cpp

    Line 135 in d995dbc

    wb_supervisor_node_enable_contact_points_tracking(nodeRef, samplingPeriod, false);

@omichel do you have an idea of why you wanted to remove the include_descendants parameter?

• The test API/contact_points_and_center_of_mass issues a lot of warnings but the test still succeed:

WARNING: DEF contact_points_and_center_of_mass Robot: No active contact points tracking could be found for the node 'Robot'.
WARNING: DEF contact_points_and_center_of_mass Robot: 'wb_supervisor_node_enable_contact_point_tracking' called for an invalid node.
Error: wb_supervisor_node_disable_pose_tracking() called with a NULL or invalid 'node' argument.

As discussed, we will not fix the test for now

[omichel]

That looks good to me.