Distance from this contact point to the manifold's friction point, projected onto the plane perpendicular to the contact normal. Used as the moment arm when computing the angular friction cap: μ · Σ_i (distanceToFrictionCenter_i · normalLambda_i).
Contact point position in body A's local/relative space (center of mass space). Constant - used to recompute world position when body moves.
Contact point position in body B's local/relative space (center of mass space). Constant - used to recompute world position when body moves.
Normal constraint: prevents interpenetration. Direction: contact normal (perpendicular to contact surface). Lambda clamping: normalLambda >= 0 (push only, no pull).
Contact point position on body A (world space). Recomputed each solving iteration from local position + body transform.
Contact point position on body B (world space). Recomputed each solving iteration from local position + body transform.
A single contact point with non-penetration constraint data. Links world-space geometry to constraint solving.
Friction is no longer per-contact-point — it lives on the parent ContactConstraint (anchored at frictionPoint). Each WorldContactPoint only owns the 1-DOF non-penetration constraint plus a cached moment-arm to the friction point for computing the angular friction cap.