Collision contact information is not working again

[wxmerkt]

The failure in the constrained optimisation stems from jumping and incorrect contact points, yet again:

We now see (a) offsets and (b) simply wrong locations.

[VladimirIvan]

Is this still unresolved?

[wxmerkt]

I haven't run this particular test since June but last I checked, yes, and we haven't updated much related code since. I will revisit in the next week(s) and follow up.