Custom Shader Deformation via Physics Contact Data

Act as a Technical Shader and Physics Artist. Architect a highly complex data bridge between the physics collision engine and raw GLSL vertex shaders in R3F. You must extract exact contact point coordinates and impact velocities from the Rapier collision manifold, format them into a `DataTexture` or Float32Array, and pass them directly as a [GLSL_UNIFORM_NAME] into a custom ShaderMaterial. Utilize this data within the vertex shader to mathematically displace vertices, creating a permanent, physical [DEFORMATION_RADIUS] effect (such as dents in metal or ripples in mud) exactly at the point of impact. Explain the precise array-management logic required to maintain a [CONTACT_BUFFER_SIZE] cap, ensuring the GPU can handle multiple, simultaneous ballistic impacts efficiently without crashing.