Elysian Shadows

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const static int positionMaxIterations = 100;
	const static float penetrationEpsilon = 0.001f;
	Vector2 pointOfContact, velocityChange[2];
	float rotationAmount[2];
	float maxPenetration;
	int iterations = 0;
	int currentRigidBody = 0;
	int currentContact = 0;

	while(iterations < positionsMaxIterations) {
		maxPenetration = penetrationEpsilon;
		currentRigidBody = -1;

		for(unsigned int i = 0; i < currentLevel->currentArea->rigidBody.size(); ++i) {
			for(unsigned int j = 0; j < currentLevel->currentArea->rigidBody[i]->collisionContact.size(); ++j) {
				if(currentLevel->currentArea->rigidBody[i]->collisionContact[j].penetration > maxPenetration) {
					maxPenetration = currentLevel->currentArea->rigidBody[i]->collisionContact[j].penetration;
					currentRigidBody = i;
					currentContact = j;
				}
			}
		}
		if(currentRigidBody == -1) break;

		//MATCH AWAKE STATE?
		//c[index].matchAwakeState();

		currentLevel->currentArea->rigidBody[currentRigidBody]->collisionContact[currentContact].ApplyPositionChange(velocityChange, rotationAmount);

		for(unsigned int i = 0; i < currentLevel->currentArea->rigidBody.size(); ++i) {
			for(unsigned int j = 0; j < currentLevel->currentArea->rigidBody[i]->collisionContact.size(); ++j) {
				if(currentLevel->currentArea->rigidBody[i]->collisionContact[j].body[0] == currentLevel->currentArea->rigidBody[currentRigidBody]->collisionContact[currentContact].body[0]) {

				}
				else if(currentLevel->currentArea->rigidBody[i]->collisionContact[j].body[0] == currentLevel->currentArea->rigidBody[currentRigidBody]->collisionContact[currentContact].body[1]) {

				}

				if(currentLevel->currentArea->rigidBody[i]->collisionContact[j].body[1]) {
					if(currentLevel->currentArea->rigidBody[i]->collisionContact[j].body[1] == currentLevel->currentArea->rigidBody[currentRigidBody]->collisionContact[currentContact].body[0]) {

					}
					else if(currentLevel->currentArea->rigidBody[i]->collisionContact[j].body[1] == currentLevel->currentArea->rigidBody[currentRigidBody]->collisionContact[currentContact].body[1]) {

					}

				}
			}
		}
	}