Is the RBD Constraints from Rules node's Connect Type: Surface Points used to connect separate mesh parts of a model together?

e.g. assume the model is consists of a sphere and a box just touching.

Is this a way to connect them, if so could someone explain the setup?

Or should I use Glue constraints?

If they're meant to connect together and act as a single object, and you don't need them to separate during the sim, give both objects the same `name` attribute and they'll solve as a single piece in Bullet. If they do need to separate from each other, use a constraint.