Contact impulses for reporting. Impulses are used instead of forces because sub-step forces may approach infinity for rigid body collisions. These match up one-to-one with the contact points in b2Manifold.
Normal impulses.
Tangent impulses.
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Contact impulses for reporting. Impulses are used instead of forces because sub-step forces may approach infinity for rigid body collisions. These match up one-to-one with the contact points in b2Manifold.