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    Function createContact

    • Create a new contact nested under a pair record, linking it at the head of the record's chain.

      Parameters

      • contacts: Contacts

        global contact state

      • pairs: Pairs

        persistent pair state (holds the per-record chain heads)

      • rec: number

        owning pair record index

      • bodyA: RigidBody

        first body (must have id <= bodyB.id)

      • bodyB: RigidBody

        second body (must have id >= bodyA.id)

      • subShapeIdA: number

        sub-shape ID for body A

      • subShapeIdB: number

        sub-shape ID for body B

      Returns Contact

      The newly created contact

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