+/* calculate total move. manifold should belong to ONE object only */
+VG_STATIC void rb_depenetrate( rb_ct *manifold, int len, v3f dt )
+{
+ v3_zero( dt );
+
+ for( int j=0; j<7; j++ )
+ {
+ for( int i=0; i<len; i++ )
+ {
+ struct contact *ct = &manifold[i];
+
+ float resolved_amt = v3_dot( ct->n, dt ),
+ remaining = (ct->p-k_penetration_slop) - resolved_amt,
+ apply = vg_maxf( remaining, 0.0f ) * 0.4f;
+
+ v3_muladds( dt, ct->n, apply, dt );
+ }
+ }
+}
+