Fix contact points warnings (#6081)

* Display more useful information in warning

* Increase the number of allowed contact points in the salamander simulation

* Fixed Sojourner climbing rocks and contact point warning

Author: omichel

projects/robots/nasa/worlds/sojourner.wbt

@@ -18,6 +18,9 @@ WorldInfo {
   gravity 3.73
   basicTimeStep 16
   lineScale 0.2
+  contactProperties ContactProperties {
+    maxContactJoints 21
+  }
 }
 Viewpoint {
   fieldOfView 0.895398
@@ -108,7 +111,7 @@ Rock10cm {
 }
 Rock10cm {
   translation 0.1779 -0.3873 -0.1161
-  rotation 0 0 1 -1.8325953071795862
+  rotation 0 0 -1 1.0472
   name "rock 10 cm(2)"
   color 0.9 0.4 0.3
 }

projects/samples/rendering/worlds/animated_skin.wbt

@@ -43,6 +43,17 @@ WorldInfo {
       material2 "ping pong ball material"
       bounce 0.9
     }
+    ContactProperties {
+      material1 "body"
+      maxContactJoints 26
+    }
+    ContactProperties {
+      material1 "leg"
+      maxContactJoints 17
+    }
+    ContactProperties {
+      maxContactJoints 17
+    }
   ]
 }
 Viewpoint {

src/webots/engine/WbSimulationCluster.cpp

@@ -475,13 +475,20 @@ void WbSimulationCluster::handleCollisionIfSpace(void *data, dGeomID o1, dGeomID
   }
 }
 
-void WbSimulationCluster::warnMoreContactPointsThanContactJoints() {
+void WbSimulationCluster::warnMoreContactPointsThanContactJoints(const QString &material1, const QString &material2, int max,
+                                                                 int n) {
   static QMutex mutex;
   QMutexLocker<QMutex> lock(&mutex);
   static double lastWarningTime = -INFINITY;
   const double currentSimulationTime = WbSimulationState::instance()->time();
   if (currentSimulationTime > lastWarningTime + 1000.0) {
-    WbLog::warning(QObject::tr("Contact joints will only be created for the deepest contact points."), false, WbLog::ODE);
+    WbLog::warning(QObject::tr("Contact joints between materials '%1' and '%2' will only be created for the %3 deepest contact "
+                               "points instead of all the %4 contact points.")
+                     .arg(material1)
+                     .arg(material2)
+                     .arg(max)
+                     .arg(n),
+                   false, WbLog::ODE);
     lastWarningTime = currentSimulationTime;
   }
 }
@@ -656,7 +663,6 @@ void WbSimulationCluster::odeNearCallback(void *data, dGeomID o1, dGeomID o2) {
       n = n->parentNode();
     }
   }
-
   const WbContactProperties *contactProperties = cl->findContactProperties(s1, s2);
   const int maxContactJoints = contactProperties ? contactProperties->maxContactJoints() : 10;
 
@@ -679,7 +685,8 @@ void WbSimulationCluster::odeNearCallback(void *data, dGeomID o1, dGeomID o2) {
     return;
 
   if (n > maxContactJoints) {
-    WbSimulationCluster::warnMoreContactPointsThanContactJoints();
+    WbSimulationCluster::warnMoreContactPointsThanContactJoints(s1->contactMaterial(), s2->contactMaterial(), maxContactJoints,
+                                                                n);
     std::nth_element(contact, contact + maxContactJoints, contact + n,
                      [](const dContact &c1, const dContact &c2) { return (c1.geom.depth > c2.geom.depth); });
     n = maxContactJoints;

src/webots/engine/WbSimulationCluster.hpp

@@ -72,7 +72,7 @@ class WbSimulationCluster {
   static void odeSensorRaysUpdate(int threadID);
   static const long long int WEBOTS_MAGIC_NUMBER;
   bool mSwapJointContactBuffer;
-  static void warnMoreContactPointsThanContactJoints();
+  static void warnMoreContactPointsThanContactJoints(const QString &material1, const QString &material2, int max, int n);
 };
 
 #endif