Barycentric coordinates for contacts Point-Face: Bary[0] = 1.0 (Point), Bary[1:3] correspond with coordinates on Face Edge-Edge: Bary[0:1] = coordinates on first edge, [2:3] coordinates on second edge Edge-Face: Bary[0] = second coordinate on edge (first can be calculated as 1-Bary[0], Bary[1:3] correspond with coordinates on Face