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

asked 2019-11-06 07:21:37 -0500

Clément Rolinat gravatar image

updated 2019-11-06 07:46:08 -0500


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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answered 2019-11-20 10:09:22 -0500

Clément Rolinat gravatar image

updated 2020-07-24 06:22:57 -0500

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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Hi Clement, did you find a solution or workaround? Best, Alex

awck gravatar imageawck ( 2020-12-07 11:13:07 -0500 )edit

hello, sorry for the late answer, no the only "workaround" is to use the ode engine...

Clément Rolinat gravatar imageClément Rolinat ( 2021-03-25 02:32:43 -0500 )edit

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Asked: 2019-11-06 07:21:37 -0500

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Last updated: Jul 24 '20