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Set max contacts for collision pairs #2270
Conversation
Signed-off-by: Ian Chen <ichen@openrobotics.org>
Signed-off-by: Ian Chen <ichen@openrobotics.org>
Signed-off-by: Ian Chen <ichen@openrobotics.org>
@caguero to make a release of gz-physics6 to unblock this PR. |
Hi, when I run this example in Gazebo Harmonic, i don't get the "after" result with only 20 contacts. It still appears as the before result. This is true if I explicitly state the <max_contacts> in the world file as well. I am running gz physics from ROS2 installed vendor packages which appears to be the latest release (gz-physics 7.2.0). From a look at the gz-physics repo, max_contacts appears to be implemented.. has this feature indeed been released? Am I missing something? -User |
we still need to merge this PR, forward port to the |
馃帀 New feature
Depends on gazebosim/gz-physics#582
Summary
Set max_contacts physics parameter in physics engines that support this feature. See gazebosim/gz-physics#582 for support in dartsim's ode collision detector.
Test it
Here's an example test world: contacts.sdf.
The test world has a large box with an ellipsoid inside. The contact points are visualized in blue:
Before: No max contacts set. Many contacts detected. Low RTF (~30%)
After: Max contacts set based on SDF default value (20). Limited to 20 contacts. High RTF (~9X%)
Checklist
codecheck
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