Struct Contact
    Private
    
    
    
    Public Variables
        
                impulse
        
    
                
                
                    Public
                
            
        
                lastNormal
        
    
                
                
                    Public
                
            
        
                lastPoint
        
    
                
                
                    Public
                
            
        
                smoothImpulse
        
    
                
                
                    Public