}
for (int i = 0; i < m_contactCount; ++i){
Contact c = m_contacts[i];
ContactConstraint cc = constraints[i];
for (int j = 0; j < cc.pointCount; ++j){
impulse.normalImpulses[j] = cc.points[j].normalImpulse;
impulse.tangentImpulses[j] = cc.points[j].tangentImpulse;
}