for(u32 CollisionIndex = 0;
        CollisionIndex < GameState->CollisionCount;
        CollisionIndex++)
    {
        collision_data *Collision = GameState->Collisions + CollisionIndex;

        for(u32 ContactIndex = 0;
            ContactIndex < Collision->Manifold.ContactCount;
            )
        {
            contact_point *Contact = Collision->Manifold.Contacts + ContactIndex;

            vec3 NewGlobalA = Collision->A->RigidBody.P + Collision->A->RigidBody.Orientation*Contact->LocalA;
            vec3 NewGlobalB = Collision->B->RigidBody.P + Collision->B->RigidBody.Orientation*Contact->LocalB;
            vec3 rAB = NewGlobalB - NewGlobalA;

            vec3 rA = Contact->GlobalA - NewGlobalA;
            vec3 rB = Contact->GlobalB - NewGlobalB;

            b32 StillPenetrating = (Dot(Contact->Normal, rAB) >= 0.0f);
            b32 rACloseEnough = (LengthSq(rA) <= PersistentThresholdSq);
            b32 rBCloseEnough = (LengthSq(rB) <= PersistentThresholdSq);
            if(StillPenetrating && rACloseEnough && rBCloseEnough)
            {
                Contact->Persistent = true;
                ContactIndex++;
            }
            else
            {
                Collision->Manifold.Contacts[ContactIndex] = Collision->Manifold.Contacts[--Collision->Manifold.ContactCount];
            }
        }
    }