text: //
  //	Contact.h
  //
  #pragma once
  #include "Body.h"
  
  
  struct contact_t
  {
  	Vec3 ptOnA_WorldSpace;
  	Vec3 ptOnB_WorldSpace;
  	Vec3 ptOnA_LocalSpace;
  	Vec3 ptOnB_LocalSpace;
  
  	Vec3 normal;	// In World Space coordinates
  	float separationDistance;	// positive when non-penetrating, negative when penetrating
  	float timeOfImpact;
  
  	Body* bodyA;
  	Body* bodyB;
  };
  
  void ResolveContact(contact_t& contact);