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;