supporting face on shape A (world space, flat array of vertices)
supporting face on shape B (world space, flat array of vertices)
fraction along the sweep (0=start, 1=end)
material ID of sub-shape A
material ID of sub-shape B
contact normal (world space, normalized). computed as -penetrationAxis.normalized(). points from shape B towards shape A (opposite of penetration axis).
penetration axis: direction to move shape B out of collision along shortest path. magnitude is meaningless, in world space. when fraction > 0: this is the contact normal (A → B) when fraction = 0: this is the penetration direction
penetration depth
point on shape A (world space)
point on shape B (world space)
status of the cast
sub-shape ID on shape A
sub-shape ID on shape B
body ID of shape B