(mkosarek) Decent enough discussion of 2d rotational forces

1 files changed, 4 insertions, 3 deletions

diff --git a/2d/rigidbody/rigidbody_2/main.cpp b/2d/rigidbody/rigidbody_2/main.cpp
index bad6949..123cf7e 100644
--- a/2d/rigidbody/rigidbody_2/main.cpp
+++ b/2d/rigidbody/rigidbody_2/main.cpp
@@ -63,13 +63,15 @@ struct Rigidbody {
 
             float32 nextTimeAppliedSeconds = i.timeAppliedSeconds + deltaTimeSeconds;
             if (nextTimeAppliedSeconds >= i.timeOfApplicationSeconds) {
-                nextTimeAppliedSeconds = i.timeOfApplicationSeconds; // Do the remainder of the time
+                nextTimeAppliedSeconds = i.timeOfApplicationSeconds;
                 i.isDead = true;
             }
             
             float32 impulseDtSeconds = nextTimeAppliedSeconds - i.timeAppliedSeconds;
             Vector2 forceToApply = i.force * (impulseDtSeconds / i.timeOfApplicationSeconds);
             force += forceToApply * impulseDtSeconds;
+
+            // New! Increment the torque for each force
             torque += i.pointOfApplication.getPerp().dot(forceToApply);
 
             i.timeAppliedSeconds = nextTimeAppliedSeconds;
@@ -79,12 +81,11 @@ struct Rigidbody {
         velocity += (acceleration * deltaTimeSeconds);
         position += (velocity * deltaTimeSeconds);
 
-        // New: Update the rotational velocity as well
+        // New! Update the rotational velocity as well
 		float32 rotationalAcceleration = torque / momentOfInertia;
 		rotationalVelocity += (rotationalAcceleration * deltaTimeSeconds);
 		rotation += (rotationalVelocity * deltaTimeSeconds);
 
-        // Cleanup any impulses that have expired in the mean time
         for (int32 idx = 0; idx < numImpulses; idx++) {
             if (activeImpulses[idx].isDead) {
                 for (int j = idx + 1; j < numImpulses; j++) {