Set max contacts for collision pairs (#2270)

Signed-off-by: Ian Chen <[email protected]>
Co-authored-by: Addisu Z. Taddese <[email protected]>

src/systems/physics/Physics.cc

@@ -617,6 +617,14 @@ class gz::sim::systems::PhysicsPrivate
  public: struct SolverFeatureList : gz::physics::FeatureList<
  gz::physics::Solver>{};
 
+ //////////////////////////////////////////////////
+ // CollisionPairMaxContacts
+ /// \brief Feature list for setting and getting the max total contacts for
+ /// collision pairs
+ public: struct CollisionPairMaxContactsFeatureList :
+ gz::physics::FeatureList<
+ gz::physics::CollisionPairMaxContacts>{};
+
  //////////////////////////////////////////////////
  // Nested Models
 
@@ -642,7 +650,8 @@ class gz::sim::systems::PhysicsPrivate
  NestedModelFeatureList,
  CollisionDetectorFeatureList,
  SolverFeatureList,
- WorldModelFeatureList
+ WorldModelFeatureList,
+ CollisionPairMaxContactsFeatureList
  >;
 
  /// \brief A map between world entity ids in the ECM to World Entities in
@@ -1045,6 +1054,33 @@ void PhysicsPrivate::CreateWorldEntities(const EntityComponentManager &_ecm,
  }
  }
 
+ auto physicsComp =
+ _ecm.Component<components::Physics>(_entity);
+ if (physicsComp)
+ {
+ auto maxContactsFeature =
+ this->entityWorldMap.EntityCast<
+ CollisionPairMaxContactsFeatureList>(_entity);
+ if (!maxContactsFeature)
+ {
+ static bool informed{false};
+ if (!informed)
+ {
+ gzdbg << "Attempting to set physics options, but the "
+ << "phyiscs engine doesn't support feature "
+ << "[CollisionPairMaxContacts]. "
+ << "Options will be ignored."
+ << std::endl;
+ informed = true;
+ }
+ }
+ else
+ {
+ maxContactsFeature->SetCollisionPairMaxContacts(
+ physicsComp->Data().MaxContacts());
+ }
+ }
+
  // World Model proxy (used for joints directly under <world> in SDF)
  auto worldModelFeature =
  this->entityWorldMap.EntityCast<WorldModelFeatureList>(_entity);