tVec3f tRigidBody::fComputeImpulseToChangeRelativePointVel( f32 dt, const tVec3f& worldPointa, const tVec3f& worldPointb, const tVec3f& direction, float magnitude, const tRigidBody& otherBody )
{
	tVec3f offsetA = worldPointa - fTransform( ).fGetTranslation( );
	tVec3f offsetCrossNA = offsetA.fCross( direction );
	offsetCrossNA = mWorldInertiaInv.fXformVector( offsetCrossNA );
	offsetCrossNA = offsetCrossNA.fCross( offsetA );
	f32 offsetCrossNSquaredA = offsetCrossNA.fDot( direction );

	tVec3f offsetB = worldPointb - otherBody.fTransform( ).fGetTranslation( );
	tVec3f offsetCrossNB = offsetB.fCross(direction);
	offsetCrossNB = otherBody.fWorldInertiaInv( ).fXformVector( offsetCrossNB );
	offsetCrossNB = offsetCrossNB.fCross( offsetB );
	f32 offsetCrossNSquaredB = offsetCrossNB.fDot( direction );

	//j =  	        magnitude
	//     ----------------------------------------------
	//	  1/ma + 1/mb + Dot(N, ((rap x direction) / Ia) x rap) + Dot(N, ((rbp x direction)2 / Ib) / rbp)

	f32 denominator = 1 / mMass + 1 / otherBody.fMass( ) + offsetCrossNSquaredA + offsetCrossNSquaredB;
	f32 j = magnitude / denominator;

	tVec3f impulse = direction * j;
	return impulse;
}