diff --git a/dartsim/src/GzOdeCollisionDetector.cc b/dartsim/src/GzOdeCollisionDetector.cc
index e54aee2a2..d8c2b446d 100644
--- a/dartsim/src/GzOdeCollisionDetector.cc
+++ b/dartsim/src/GzOdeCollisionDetector.cc
@@ -92,6 +92,10 @@ void GzOdeCollisionDetector::LimitMaxContacts(
   auto allContacts = _result->getContacts();
   _result->clear();
 
+
+  if (this->maxCollisionPairContacts == 0u)
+    return;
+
   // A map of collision pairs and their their contact info
   // Contact info is stored in std::pair. The elements are:
   // <contact count, index of last contact point (in _result)>