Set max contacts for collision pairs

[iche033]

🎉 New feature

Depends on https://github.com/gazebosim/gz-physics/pull/582

Summary

Set max_contacts physics parameter in physics engines that support this feature. See https://github.com/gazebosim/gz-physics/pull/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

• [x] Signed all commits for DCO
• [ ] Added tests
• [ ] Added example and/or tutorial
• [ ] Updated documentation (as needed)
• [ ] Updated migration guide (as needed)
• [ ] Consider updating Python bindings (if the library has them)
• [ ] codecheck passed (See contributing)
• [ ] All tests passed (See test coverage)
• [ ] While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.