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void Manifold::ApplyImpulse( void )
{
  // Early out and positional correct if both objects have infinite mass
  
    Log* log1 = new Log("D:\\Engine_log.txt\n");
  log1->print("void Manifold::ApplyImpulse\n") ;
 
    
    if(Equal( A->im + B->im, 0 ))
  {
    InfiniteMassCorrection( );
    return;
  }
 
  
  for(uint32 i = 0; i < contact_count; ++i)
  {
    // Calculate radii from COM to contact
    Vec2 ra = contacts[i] - A->position;
    Vec2 rb = contacts[i] - B->position;
    log1->print("ra=(%f , %f)\n", ra.x,ra.y) ;
    log1->print("rb=(%f , %f)\n", rb.x,rb.y) ;
 
 
    // Relative velocity
    Vec2 rv = B->velocity + Cross( B->angularVelocity, rb ) -
              A->velocity - Cross( A->angularVelocity, ra );
 
    log1->print("rv=(%f , %f)\n", rv.x,rv.y) ;
    
 
    // Relative velocity along the normal
    real contactVel = Dot( rv, normal );
    log1->print("contactVel = %f\n", rv.x,rv.y) ;
 
    // Do not resolve if velocities are separating
    if(contactVel > 0)
      return;
 
    real raCrossN = Cross( ra, normal );
    log1->print("raCrossN  = %f\n", raCrossN ) ;
    real rbCrossN = Cross( rb, normal );
    log1->print("rbCrossN  = %f\n", rbCrossN ) ;
 
    real invMassSum = A->im + B->im + Sqr( raCrossN ) * A->iI + Sqr( rbCrossN ) * B->iI;
 
    // Calculate impulse scalar
    real j = -(1.0f + e) * contactVel;
    j /= invMassSum;
    log1->print("j не поделенный на количество точек контакта  = %f\n", j ) ;
    j /= (real)contact_count;
    log1->print("(real)contact_count = %f\n", (real)contact_count ) ;   
 
 
    // Apply impulse
    Vec2 impulse = normal * j;
    log1->print("impulse =( %f, %f )\n", impulse.x, impulse.y ) ;
 
    A->ApplyImpulse( -impulse, ra );
    B->ApplyImpulse(  impulse, rb );
 
    // Friction impulse
    rv = B->velocity + Cross( B->angularVelocity, rb ) -
         A->velocity - Cross( A->angularVelocity, ra );
 
    Vec2 t = rv - (normal * Dot( rv, normal ));
    t.Normalize( );
 
    // j tangent magnitude
    real jt = -Dot( rv, t );
    jt /= invMassSum;
    jt /= (real)contact_count;
 
    // Don't apply tiny friction impulses
    if(Equal( jt, 0.0f ))
      return;
 
    // Coulumb's law
    Vec2 tangentImpulse;
    if(std::abs( jt ) < j * sf)
      tangentImpulse = t * jt;
    else
      tangentImpulse = t * -j * df;
 
    // Apply friction impulse
    A->ApplyImpulse( -tangentImpulse, ra );
    B->ApplyImpulse(  tangentImpulse, rb );
  }
}