Interfaces
 InterfaceDescription
 ICoarseCollisionDetector Imposes minimum structure necessary for the PhysicsEngine to coarsely cull collision instances which aren't worth the more expensive fine phase of detection.
 ICollisionFactory Defines a structure to implement a collision detector factory.
 IFineCollisionDetector Imposes minimum structure necessary for the PhysicsEngine to finely detect collisions and generate contacts based on that detection.
Classes
 ClassDescription
 CollisionResolver Monolithic rigid body impulse-based collision resolver

This class with its lone static method is used by the PhysicsEngine to resolve all found collisions for each iteration in its step.
 Contact Depicts pairwise contact information

To resolve collisions, the CollisionResolver needs to know both bodies involved, the point of contact in world coordinates, and the collision normal (points outward from incident edge).