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Contact Sets in Kokua are ported from Firestorm based on code originally written by LordGregGreg Back and extended by Cinder Roxley (in particular, the integration with the People floater) as well as maintenance contributions from various members of the Firestorm Team. The Mini Map marker feature was originally implemented by Ansariel.
The Firestorm tutorial at https://wiki.firestormviewer.org/fs_contact_sets provides an introduction. The notes below cover the ways in which the port into Kokua has been changed or enhanced.
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