“Full-contact” doesn’t make a lot of sense when you’re simulating edged weapons. They’re not bludgeoning weapons, so unlike something in MMA you can’t beat somebody into submission or KO them (although you can wrestle them into submission, which is a big part of HEMA). But if you want real “full-contact”, you’d need…

Having wielded large, two-handed weapons - you might kill somebody by fracturing their skull, but they are still cutting weapons. The vast majority of swords are (or piercing weapons).