for (unsigned i = 0; i < numContacts; i++)
        {
            // Check each body in the contact
            for (unsigned b = 0; b < 2; b++) if (c[i].body[b])
            {
                // Check for a match with each body in the newly
                // resolved contact
                for (unsigned d = 0; d < 2; d++)
                {
                    if (c[i].body[b] == c[index].body[d])
                    {
                        deltaVel = velocityChange[d] +
                            rotationChange[d].vectorProduct(
                                c[i].relativeContactPosition[b]);

                        // The sign of the change is negative if we're dealing
                        // with the second body in a contact.
                        c[i].contactVelocity +=
                            c[i].contactToWorld.transformTranspose(deltaVel)
                            * (b?-1:1);
                        c[i].calculateDesiredDeltaVelocity(duration);
                    }
                }
            }
        }
        velocityIterationsUsed++;
    }
}