stable collisions

PhysicsEngine/Physics/Bodies/Body.cs

@@ -34,8 +34,6 @@ namespace PhysicsEngine
             TorqueAccumulator += torque;
         }
 
-        // --- Impulse Methods ---
-
         public void ApplyImpulse(Vector2 impulse)
         {
             if (IsStatic) return;
@@ -46,10 +44,8 @@ namespace PhysicsEngine
         {
             if (IsStatic) return;
 
-            // Direct linear velocity change
             Velocity += impulse * InverseMass;
 
-            // Rotate local offset into world space based on body rotation
             float cos = MathF.Cos(Rotation);
             float sin = MathF.Sin(Rotation);
             Vector2 worldOffset = new Vector2(
@@ -57,7 +53,6 @@ namespace PhysicsEngine
                 localOffset.X * sin + localOffset.Y * cos
             );
 
-            // 2D Cross product for torque: r x J
             float torque = worldOffset.X * impulse.Y - worldOffset.Y * impulse.X;
             AngularVelocity += torque * InverseInertia;
         }
@@ -66,19 +61,14 @@ namespace PhysicsEngine
         {
             if (IsStatic) return;
 
-            // Direct linear velocity change
             Velocity += impulse * InverseMass;
 
-            // Offset from center of mass in world space
             Vector2 worldOffset = worldPosition - Position;
 
-            // 2D Cross product for torque: r x J
             float torque = worldOffset.X * impulse.Y - worldOffset.Y * impulse.X;
             AngularVelocity += torque * InverseInertia;
         }
 
-        // --- Other Useful Methods to Consider ---
-
         public void ApplyForceAtWorldPosition(Vector2 force, Vector2 worldPosition)
         {
             if (IsStatic) return;

PhysicsEngine/Physics/Bodies/Box.cs

@@ -39,34 +39,27 @@ namespace PhysicsEngine
             float speed = Velocity.Length();
             if (speed < 0.01f) return;
 
-            // 1. Oncoming relative wind direction (opposite to velocity)
             Vector2 windDir = -Velocity / speed;
 
             float cos = MathF.Cos(Rotation);
             float sin = MathF.Sin(Rotation);
 
-            // Box local axes transformed into world space (Assuming Size.Y is length/major axis)
             Vector2 worldAxisY = new Vector2(-sin, cos); // Major axis vector
             Vector2 worldAxisX = new Vector2(cos, sin);  // Minor axis vector
 
-            // 2. Calculate effective frontal width (projected area in 2D) based on current orientation
             Vector2 windPerp = new Vector2(-windDir.Y, windDir.X);
             float projX = MathF.Abs(Vector2.Dot(worldAxisX, windPerp));
             float projY = MathF.Abs(Vector2.Dot(worldAxisY, windPerp));
             float effectiveWidth = Size.X * projX + Size.Y * projY;
 
-            // 3. Translational Drag Force (scales with dynamic pressure and current effective width)
             float dragMagnitude = 0.5f * airDensity * speed * speed * DragCoefficient * effectiveWidth;
             Vector2 dragForce = windDir * dragMagnitude;
             ApplyForce(dragForce);
 
-            // 4. Weathercock / Fin-Effect Restoring Torque
-            // Measures angular misalignment between the box's major axis and the wind direction
             float cross = worldAxisY.X * windDir.Y - worldAxisY.Y * windDir.X;
             float restoringTorque = cross * 0.5f * airDensity * speed * speed * DragCoefficient * Size.X * Size.Y;
             ApplyTorque(restoringTorque);
 
-            // 5. Angular Damping (Quadratic Rotational Drag)
             float angularSpeed = MathF.Abs(AngularVelocity);
             if (angularSpeed > 0.0001f)
             {