I'm having some trouble solving all my constraints iteratively as described in Erin Cattos slides http://twvideo01.ubm-us.net/o1/vault/gdc09/slides/04-GDC09CattoErin_Solver.pdf slide 58. So far I can solve constraints individually without converging lambdas. The code I implemented is here at line 49 https://github.com/zacharytay1994/OBBCollisionDetectionResolutionUnity/blob/master/Collision%26PhysicsTest/Assets/Scripts/ResolutionStep.cs, I think the update velocity step should be in the while loop, but when I try that the system kind of explodes with overwhelming velocity, so I left it outside which means I am still solving it individually as far as my understanding of it goes.

I calculated the lambda in line 95, modeled the calculation after the 2D code found in box2dlite collision.cpp and arbiter.cpp with some help from other sources and. I am doing a 3D obb vs obb collision. What am I doing wrong, can anyone help please?