private bool ResolveStaticCollisions(BSActorCollisionInfo actor)

    {

        actor.staticConstraints.Clear();



        List<BSCollisionConstraint> newConstraints;

        int iterations = 10;

        while (iterations-- > 0)

        {

            newConstraints = CalculateConstraints(actor);

            if (newConstraints.Count <= 0)

                break;



            Vector2 moveVec = actor.newPos - actor.lastTickPos;

            Vector2 correction = Vector2.zero;



            foreach (BSCollisionConstraint constraint in newConstraints)

            {

                Vector2 penetration = constraint.normal * constraint.penetration;

                //float len2 = correction.sqrMagnitude;

                //if (len2 > Mathf.Epsilon)

                //  penetration -= (Vector2.Dot(correction, penetration) / len2) * correction;



                correction += penetration;

                actor.staticConstraints.Add(constraint);

            }



            actor.newPos += correction;

            actor.lastTickPos = actor.newPos;

            moveVec = actor.ClampVector2ToConstraints(moveVec + correction, false);

            actor.newPos += moveVec;

        }



        Debug.Log(iterations);

        return actor.staticConstraints.Count > 0;

    }