diff --git a/data/uking_functions.csv b/data/uking_functions.csv
index d90076e4..d581e5b6 100644
--- a/data/uking_functions.csv
+++ b/data/uking_functions.csv
@@ -83727,12 +83727,12 @@ Address,Quality,Size,Name
 0x0000007100fb2474,U,000116,
 0x0000007100fb24e8,O,000316,_ZN4ksys4phys10ContactMgr20loadContactInfoTableEPN4sead4HeapEN3agl3utl19ResParameterArchiveENS0_16ContactLayerTypeE
 0x0000007100fb2624,O,000688,_ZN4ksys4phys10ContactMgr22doLoadContactInfoTableEN3agl3utl19ResParameterArchiveENS0_16ContactLayerTypeEb
-0x0000007100fb28d4,U,000136,
+0x0000007100fb28d4,O,000136,_ZN4ksys4phys10ContactMgr18allocContactPointsEPN4sead4HeapEiRKNS2_14SafeStringBaseIcEEiii
 0x0000007100fb295c,U,000220,
-0x0000007100fb2a38,U,000100,
+0x0000007100fb2a38,O,000100,_ZN4ksys4phys10ContactMgr21registerContactPointsEPNS0_18RigidContactPointsE
 0x0000007100fb2a9c,U,000056,
 0x0000007100fb2ad4,U,000156,
-0x0000007100fb2b70,U,000148,
+0x0000007100fb2b70,O,000148,_ZN4ksys4phys10ContactMgr17freeContactPointsEPNS0_18RigidContactPointsE
 0x0000007100fb2c04,U,000144,
 0x0000007100fb2c94,U,000216,
 0x0000007100fb2d6c,U,000136,
@@ -84088,11 +84088,11 @@ Address,Quality,Size,Name
 0x0000007100fc7608,U,000052,
 0x0000007100fc763c,U,000064,
 0x0000007100fc767c,U,000024,
-0x0000007100fc7694,U,000076,
-0x0000007100fc76e0,U,000004,nullsub_4247
-0x0000007100fc76e4,U,000004,j__ZdlPv_1009
-0x0000007100fc76e8,U,000092,
-0x0000007100fc7744,U,000048,
+0x0000007100fc7694,O,000076,_ZN4ksys4phys18RigidContactPointsC1ERKN4sead14SafeStringBaseIcEEiii
+0x0000007100fc76e0,O,000004,_ZN4ksys4phys18RigidContactPointsD1Ev
+0x0000007100fc76e4,O,000004,_ZN4ksys4phys18RigidContactPointsD0Ev
+0x0000007100fc76e8,O,000092,_ZN4ksys4phys18RigidContactPoints11allocPointsEPN4sead4HeapEi
+0x0000007100fc7744,O,000048,_ZN4ksys4phys18RigidContactPoints10freePointsEv
 0x0000007100fc7774,U,000084,
 0x0000007100fc77c8,U,000044,
 0x0000007100fc77f4,U,000260,
@@ -84301,13 +84301,13 @@ Address,Quality,Size,Name
 0x0000007100fcf8b0,U,000004,nullsub_4257
 0x0000007100fcf8b4,U,000008,
 0x0000007100fcf8bc,U,000072,
-0x0000007100fcf904,U,000348,
+0x0000007100fcf904,O,000348,_ZN4ksys4phys20RigidContactPointsEx17registerLayerPairENS0_12ContactLayerES2_b
 0x0000007100fcfa60,U,000024,
-0x0000007100fcfa78,U,000096,
-0x0000007100fcfad8,U,000004,nullsub_4258
-0x0000007100fcfadc,U,000004,j__ZdlPv_1013
-0x0000007100fcfae0,U,000300,
-0x0000007100fcfc0c,U,000168,
+0x0000007100fcfa78,O,000096,_ZN4ksys4phys20RigidContactPointsExC1ERKN4sead14SafeStringBaseIcEEiii
+0x0000007100fcfad8,O,000004,_ZN4ksys4phys20RigidContactPointsExD1Ev
+0x0000007100fcfadc,O,000004,_ZN4ksys4phys20RigidContactPointsExD0Ev
+0x0000007100fcfae0,O,000300,_ZN4ksys4phys20RigidContactPointsEx11allocPointsEPN4sead4HeapEii
+0x0000007100fcfc0c,O,000168,_ZN4ksys4phys20RigidContactPointsEx10freePointsEv
 0x0000007100fcfcb4,U,000260,
 0x0000007100fcfdb8,U,000048,
 0x0000007100fcfde8,U,000068,
@@ -93425,11 +93425,11 @@ Address,Quality,Size,Name
 0x000000710121686c,U,000040,PhysicsMemSys::__auto15
 0x0000007101216894,U,000052,
 0x00000071012168c8,U,000052,
-0x00000071012168fc,U,000008,
-0x0000007101216904,U,000008,
+0x00000071012168fc,O,000008,_ZNK4ksys4phys9MemSystem18allocContactPointsEPN4sead4HeapEiRKNS2_14SafeStringBaseIcEEiii
+0x0000007101216904,O,000008,_ZNK4ksys4phys9MemSystem17freeContactPointsEPNS0_18RigidContactPointsE
 0x000000710121690c,U,000008,
 0x0000007101216914,U,000080,
-0x0000007101216964,U,000008,
+0x0000007101216964,O,000008,_ZNK4ksys4phys9MemSystem21registerContactPointsEPNS0_18RigidContactPointsE
 0x000000710121696c,U,000008,
 0x0000007101216974,U,000048,
 0x00000071012169a4,U,000008,
diff --git a/lib/sead b/lib/sead
index d19d8107..c2ffe0c2 160000
--- a/lib/sead
+++ b/lib/sead
@@ -1 +1 @@
-Subproject commit d19d810793cbd4d92d45793b1956a71ea71f9dd0
+Subproject commit c2ffe0c2d03a2ffa2a8b2a679810e08ebd16d45d
diff --git a/src/KingSystem/Physics/CMakeLists.txt b/src/KingSystem/Physics/CMakeLists.txt
index 5ef03722..7936a9f4 100644
--- a/src/KingSystem/Physics/CMakeLists.txt
+++ b/src/KingSystem/Physics/CMakeLists.txt
@@ -56,6 +56,10 @@ target_sources(uking PRIVATE
   System/physParamSet.h
   System/physRagdollControllerKeyList.h
   System/physRagdollControllerKeyList.cpp
+  System/physRigidContactPoints.cpp
+  System/physRigidContactPoints.h
+  System/physRigidContactPointsEx.cpp
+  System/physRigidContactPointsEx.h
   System/physShapeParam.cpp
   System/physShapeParam.h
   System/physSystemData.cpp
diff --git a/src/KingSystem/Physics/System/physContactMgr.cpp b/src/KingSystem/Physics/System/physContactMgr.cpp
index d87462d4..dfbf294e 100644
--- a/src/KingSystem/Physics/System/physContactMgr.cpp
+++ b/src/KingSystem/Physics/System/physContactMgr.cpp
@@ -1,13 +1,15 @@
 #include "KingSystem/Physics/System/physContactMgr.h"
+#include <prim/seadScopedLock.h>
 #include "KingSystem/Physics/System/physEntityGroupFilter.h"
 #include "KingSystem/Physics/System/physGroupFilter.h"
 #include "KingSystem/Physics/System/physMemSystem.h"
+#include "KingSystem/Physics/System/physRigidContactPoints.h"
 
 namespace ksys::phys {
 
 ContactMgr::ContactMgr() {
+    mRigidContactPoints.initOffset(RigidContactPoints::getListNodeOffset());
     // FIXME: figure out what these offsets are
-    mList1.initOffset(0x38);
     mList2.initOffset(0x78);
     mList3.initOffset(0x40);
     mList0.initOffset(0x10);
@@ -62,6 +64,33 @@ void ContactMgr::doLoadContactInfoTable(agl::utl::ResParameterArchive archive,
     table.param_io.applyResParameterArchive(archive);
 }
 
+RigidContactPoints* ContactMgr::allocContactPoints(sead::Heap* heap, int num,
+                                                   const sead::SafeString& name, int a, int b,
+                                                   int c) {
+    auto* points = new (heap) RigidContactPoints(name, a, b, c);
+    points->allocPoints(heap, num);
+    return points;
+}
+
+void ContactMgr::registerContactPoints(RigidContactPoints* points) {
+    auto lock = sead::makeScopedLock(mMutex1);
+    if (!points->isLinked())
+        mRigidContactPoints.pushBack(points);
+}
+
+void ContactMgr::freeContactPoints(RigidContactPoints* points) {
+    if (!points)
+        return;
+
+    {
+        auto lock = sead::makeScopedLock(mMutex1);
+        if (points->isLinked())
+            mRigidContactPoints.erase(points);
+    }
+    points->freePoints();
+    delete points;
+}
+
 bool ContactMgr::getSensorLayerMask(ReceiverMask* mask,
                                     const sead::SafeString& receiver_type) const {
     const auto& receivers = mContactInfoTables[int(ContactLayerType::Sensor)].receivers;
diff --git a/src/KingSystem/Physics/System/physContactMgr.h b/src/KingSystem/Physics/System/physContactMgr.h
index e46d9997..4eb5f4ff 100644
--- a/src/KingSystem/Physics/System/physContactMgr.h
+++ b/src/KingSystem/Physics/System/physContactMgr.h
@@ -20,6 +20,8 @@ class Heap;
 
 namespace ksys::phys {
 
+class RigidContactPoints;
+
 struct ContactInfoTable {
     struct Receiver : agl::utl::ParameterObj {
         const char* name = nullptr;
@@ -50,6 +52,11 @@ public:
 
     bool getSensorLayerMask(ReceiverMask* mask, const sead::SafeString& receiver_type) const;
 
+    RigidContactPoints* allocContactPoints(sead::Heap* heap, int num, const sead::SafeString& name,
+                                           int a, int b, int c);
+    void registerContactPoints(RigidContactPoints* points);
+    void freeContactPoints(RigidContactPoints* points);
+
 private:
     void doLoadContactInfoTable(agl::utl::ResParameterArchive archive, ContactLayerType type,
                                 bool skip_params);
@@ -59,7 +66,7 @@ private:
     sead::OffsetList<void*> mList0;
     int mList0Size = 0;
     sead::Atomic<int> _34 = 0;
-    sead::OffsetList<void*> mList1;
+    sead::OffsetList<RigidContactPoints> mRigidContactPoints;
     sead::OffsetList<void*> mList2;
     sead::OffsetList<void*> mList3;
     sead::OffsetList<void*> mList4;
diff --git a/src/KingSystem/Physics/System/physDefines.h b/src/KingSystem/Physics/System/physDefines.h
index 419ca0ba..6ea54cda 100644
--- a/src/KingSystem/Physics/System/physDefines.h
+++ b/src/KingSystem/Physics/System/physDefines.h
@@ -10,6 +10,7 @@ namespace ksys::phys {
 enum class ContactLayerType {
     Entity,
     Sensor,
+    Invalid,
 };
 
 SEAD_ENUM(ContactLayer,
diff --git a/src/KingSystem/Physics/System/physMemSystem.cpp b/src/KingSystem/Physics/System/physMemSystem.cpp
index e69de29b..a8193a33 100644
--- a/src/KingSystem/Physics/System/physMemSystem.cpp
+++ b/src/KingSystem/Physics/System/physMemSystem.cpp
@@ -0,0 +1,22 @@
+#include "KingSystem/Physics/System/physMemSystem.h"
+#include "KingSystem/Physics/System/physContactMgr.h"
+
+namespace ksys::phys {
+
+SEAD_SINGLETON_DISPOSER_IMPL(MemSystem)
+
+RigidContactPoints* MemSystem::allocContactPoints(sead::Heap* heap, int num,
+                                                  const sead::SafeString& name, int a, int b,
+                                                  int c) const {
+    return mContactMgr->allocContactPoints(heap, num, name, a, b, c);
+}
+
+void MemSystem::freeContactPoints(RigidContactPoints* points) const {
+    mContactMgr->freeContactPoints(points);
+}
+
+void MemSystem::registerContactPoints(RigidContactPoints* points) const {
+    mContactMgr->registerContactPoints(points);
+}
+
+}  // namespace ksys::phys
diff --git a/src/KingSystem/Physics/System/physMemSystem.h b/src/KingSystem/Physics/System/physMemSystem.h
index a5829227..92eec883 100644
--- a/src/KingSystem/Physics/System/physMemSystem.h
+++ b/src/KingSystem/Physics/System/physMemSystem.h
@@ -10,6 +10,8 @@ namespace ksys::phys {
 class ContactMgr;
 class GroupFilter;
 class RigidBody;
+class RigidContactPoints;
+class RigidContactPointsEx;
 class SystemGroupHandler;
 
 // FIXME: obviously incomplete. Also this should be moved to its own header
@@ -19,15 +21,25 @@ struct RigidBodyRequestMgr {
 
 class MemSystem {
     SEAD_SINGLETON_DISPOSER(MemSystem)
+    MemSystem();
+    virtual ~MemSystem();
+
 public:
     GroupFilter* getGroupFilter(ContactLayerType type) const;
     ContactMgr* getContactMgr() const { return mContactMgr; }
     RigidBodyRequestMgr* getRigidBodyRequestMgr() const { return mRigidBodyRequestMgr; }
 
+    RigidContactPoints* allocContactPoints(sead::Heap* heap, int num, const sead::SafeString& name,
+                                           int a, int b, int c) const;
+    void freeContactPoints(RigidContactPoints* points) const;
+    void registerContactPoints(RigidContactPoints* points) const;
+    void registerContactPointLayerPair(RigidContactPointsEx* points, ContactLayer layer1,
+                                       ContactLayer layer2, bool enabled);
+
     void removeSystemGroupHandler(SystemGroupHandler* handler);
 
 private:
-    u8 _20[0x148 - 0x20];
+    u8 _28[0x148 - 0x28];
     ContactMgr* mContactMgr;
     void* _150;
     void* _158;
diff --git a/src/KingSystem/Physics/System/physRigidContactPoints.cpp b/src/KingSystem/Physics/System/physRigidContactPoints.cpp
new file mode 100644
index 00000000..2e1c6ed9
--- /dev/null
+++ b/src/KingSystem/Physics/System/physRigidContactPoints.cpp
@@ -0,0 +1,18 @@
+#include "KingSystem/Physics/System/physRigidContactPoints.h"
+
+namespace ksys::phys {
+
+RigidContactPoints::RigidContactPoints(const sead::SafeString& name, int a, int b, int c)
+    : IRigidContactPoints(name, a, b, c) {}
+
+RigidContactPoints::~RigidContactPoints() = default;
+
+void RigidContactPoints::allocPoints(sead::Heap* heap, int num) {
+    mPoints.allocBufferAssert(num, heap);
+}
+
+void RigidContactPoints::freePoints() {
+    mPoints.freeBuffer();
+}
+
+}  // namespace ksys::phys
diff --git a/src/KingSystem/Physics/System/physRigidContactPoints.h b/src/KingSystem/Physics/System/physRigidContactPoints.h
new file mode 100644
index 00000000..21165243
--- /dev/null
+++ b/src/KingSystem/Physics/System/physRigidContactPoints.h
@@ -0,0 +1,53 @@
+#pragma once
+
+#include <basis/seadTypes.h>
+#include <container/seadBuffer.h>
+#include <container/seadListImpl.h>
+#include <container/seadSafeArray.h>
+#include <cstddef>
+#include <prim/seadBitFlag.h>
+#include <prim/seadNamable.h>
+#include <prim/seadSafeString.h>
+#include <thread/seadAtomic.h>
+#include "KingSystem/Utils/Types.h"
+
+namespace ksys::phys {
+
+class IRigidContactPoints : public sead::INamable {
+public:
+    // FIXME: parameter names
+    IRigidContactPoints(const sead::SafeString& name, int a, int b, int c)
+        : sead::INamable(name), _2c(a), _30(b), _34(c) {}
+    virtual ~IRigidContactPoints() = default;
+
+    bool isLinked() const { return mListNode.isLinked(); }
+    static constexpr size_t getListNodeOffset() { return offsetof(IRigidContactPoints, mListNode); }
+
+protected:
+    sead::Atomic<int> _18;
+    sead::SafeArray<sead::BitFlag32, 2> mLayerMask;
+    sead::SafeArray<sead::BitFlag32, 2> mLayerMask2;
+    u32 _2c{};
+    u32 _30{};
+    u32 _34{};
+    sead::ListNode mListNode{};
+};
+
+class RigidContactPoints : public IRigidContactPoints {
+public:
+    static RigidContactPoints* make(sead::Heap* heap, int num, const sead::SafeString& name, int a,
+                                    int b, int c);
+    static void free(RigidContactPoints* instance);
+
+    RigidContactPoints(const sead::SafeString& name, int a, int b, int c);
+    ~RigidContactPoints() override;
+    virtual void freePoints();
+    virtual void allocPoints(sead::Heap* heap, int num);
+
+private:
+    sead::Buffer<void*> mPoints{};
+    void* _58{};
+};
+KSYS_CHECK_SIZE_NX150(RigidContactPoints, 0x60);
+
+}  // namespace ksys::phys
diff --git a/src/KingSystem/Physics/System/physRigidContactPointsEx.cpp b/src/KingSystem/Physics/System/physRigidContactPointsEx.cpp
new file mode 100644
index 00000000..ac836364
--- /dev/null
+++ b/src/KingSystem/Physics/System/physRigidContactPointsEx.cpp
@@ -0,0 +1,52 @@
+#include "KingSystem/Physics/System/physRigidContactPointsEx.h"
+#include "KingSystem/Physics/System/physMemSystem.h"
+
+namespace ksys::phys {
+
+bool RigidContactPointsEx::registerLayerPair(ContactLayer layer1, ContactLayer layer2,
+                                             bool enabled) {
+    if (mLayerType == ContactLayerType::Invalid)
+        mLayerType = getContactLayerType(layer1);
+
+    if (!isPairUnknown(layer1, layer2))
+        return false;
+
+    // Add a new one.
+    auto* entry = mLayerEntries.emplaceBack();
+    if (entry == nullptr)
+        return false;
+
+    entry->layer1 = layer1;
+    entry->layer2 = layer2;
+    entry->enabled = enabled;
+    [&] { MemSystem::instance()->registerContactPointLayerPair(this, layer1, layer2, enabled); }();
+    return true;
+}
+
+bool RigidContactPointsEx::isPairUnknown(ContactLayer layer1, ContactLayer layer2) const {
+    for (int i = 0; i < mLayerEntries.size(); ++i) {
+        const auto* entry = mLayerEntries[i];
+        if (int(layer1) == entry->layer1 && int(layer2) == entry->layer2)
+            return false;
+        if (int(layer1) == entry->layer2 && int(layer2) == entry->layer1)
+            return false;
+    }
+    return true;
+}
+
+RigidContactPointsEx::RigidContactPointsEx(const sead::SafeString& name, int a, int b, int c)
+    : IRigidContactPoints(name, a, b, c) {}
+
+RigidContactPointsEx::~RigidContactPointsEx() = default;
+
+void RigidContactPointsEx::allocPoints(sead::Heap* heap, int num, int num2) {
+    mPoints.allocBufferAssert(num, heap);
+    mLayerEntries.allocBuffer(num2, heap);
+}
+
+void RigidContactPointsEx::freePoints() {
+    mPoints.freeBuffer();
+    mLayerEntries.freeBuffer();
+}
+
+}  // namespace ksys::phys
diff --git a/src/KingSystem/Physics/System/physRigidContactPointsEx.h b/src/KingSystem/Physics/System/physRigidContactPointsEx.h
new file mode 100644
index 00000000..69954ee1
--- /dev/null
+++ b/src/KingSystem/Physics/System/physRigidContactPointsEx.h
@@ -0,0 +1,37 @@
+#pragma once
+
+#include <container/seadObjArray.h>
+#include "KingSystem/Physics/System/physDefines.h"
+#include "KingSystem/Physics/System/physRigidContactPoints.h"
+
+namespace ksys::phys {
+
+// FIXME: rename. This should be below SensorGroupFilter and StaticCompound stuff
+class RigidContactPointsEx : public IRigidContactPoints {
+public:
+    static RigidContactPointsEx* make();
+    static void free(RigidContactPointsEx* instance);
+
+    RigidContactPointsEx(const sead::SafeString& name, int a, int b, int c);
+    ~RigidContactPointsEx() override;
+    virtual void freePoints();
+    virtual void allocPoints(sead::Heap* heap, int num, int num2);
+
+    bool registerLayerPair(ContactLayer layer1, ContactLayer layer2, bool enabled);
+    bool isPairUnknown(ContactLayer layer1, ContactLayer layer2) const;
+
+private:
+    struct LayerEntry {
+        ContactLayer layer1;
+        ContactLayer layer2;
+        bool enabled;
+    };
+
+    sead::Buffer<void*> mPoints{};
+    sead::ObjArray<LayerEntry> mLayerEntries;
+    ContactLayerType mLayerType = ContactLayerType::Invalid;
+    void* _80 = nullptr;
+};
+KSYS_CHECK_SIZE_NX150(RigidContactPointsEx, 0x88);
+
+}  // namespace ksys::phys
diff --git a/src/KingSystem/Physics/System/physSystemData.cpp b/src/KingSystem/Physics/System/physSystemData.cpp
index 9280e5f5..825edf69 100644
--- a/src/KingSystem/Physics/System/physSystemData.cpp
+++ b/src/KingSystem/Physics/System/physSystemData.cpp
@@ -135,6 +135,8 @@ agl::utl::ResParameterArchive SystemData::loadLayerTableRes(const SystemData::La
     case ContactLayerType::Sensor:
         path = "Physics/System/SensorLayerTable.bphyslayer";
         break;
+    case ContactLayerType::Invalid:
+        break;
     }
     const auto& resource = *matrix.mResHandle->load(path, &request);
     auto* direct_resource = sead::DynamicCast<const sead::DirectResource>(&resource);
@@ -170,6 +172,8 @@ agl::utl::ResParameterArchive SystemData::loadContactInfoTableRes(ContactLayerTy
     case ContactLayerType::Sensor:
         path = "Physics/System/SensorContactInfoTable.bphyscontact";
         break;
+    case ContactLayerType::Invalid:
+        break;
     }
     /// @bug Possible bug? The request is never used.
     const auto& resource = *mContactInfoTableHandles[int(type)]->load(path, nullptr);