This structure is used to report contact points.
The combined friction coefficient.
The contact id identifies the features in contact.
Points from shape1 to shape2.
Position in world coordinates.
The combined restitution coefficient.
The separation is negative when shapes are touching.
The first shape.
The second shape.
Velocity of point on body2 relative to point on body1 (pre-solver).
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This structure is used to report contact points.