supporting face on shape A (world space, flat array of vertices)
supporting face on shape B (world space, flat array of vertices)
material id of sub-shape A
material id of sub-shape B
penetration depth (positive = overlapping, can be negative if maxSeparationDistance > 0)
penetration axis: direction to move shape B out of collision along shortest path, magnitude is meaningless, in world space
contact position on body A (world space)
contact position on body B (world space)
sub shape id of shape A, EMPTY_SUB_SHAPE_ID if not a compound shape
sub shape id of shape B, EMPTY_SUB_SHAPE_ID if not a compound shape
the body id for body B