From 0071ed16a8d3f89befe1309be491512d215e3506 Mon Sep 17 00:00:00 2001
From: Daniel Chappuis <chappuis.daniel>
Date: Thu, 2 May 2013 22:51:31 +0200
Subject: [PATCH] Add comments in the dynamics world code

---
 src/engine/DynamicsWorld.cpp | 10 ++++++++--
 src/engine/DynamicsWorld.h   |  4 ++--
 2 files changed, 10 insertions(+), 4 deletions(-)

diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp
index 237d5236..aac339ac 100644
--- a/src/engine/DynamicsWorld.cpp
+++ b/src/engine/DynamicsWorld.cpp
@@ -121,7 +121,9 @@ void DynamicsWorld::update() {
     setInterpolationFactorToAllBodies();
 }
 
-// Integrate position and orientation of the rigid bodies
+// Integrate position and orientation of the rigid bodies.
+/// The positions and orientations of the bodies are integrated using
+/// the sympletic Euler time stepping scheme.
 void DynamicsWorld::integrateRigidBodiesPositions() {
 
     PROFILE("DynamicsWorld::updateRigidBodiesPositionAndOrientation()");
@@ -197,7 +199,11 @@ void DynamicsWorld::setInterpolationFactorToAllBodies() {
     }
 }
 
-// Integrate the velocities of rigid bodies
+// Integrate the velocities of rigid bodies.
+/// This method only set the temporary velocities but does not update
+/// the actual velocitiy of the bodies. The velocities updated in this method
+/// might violate the constraints and will be corrected in the constraint and
+/// contact solver.
 void DynamicsWorld::integrateRigidBodiesVelocities() {
 
     // TODO : Use better memory allocation here
diff --git a/src/engine/DynamicsWorld.h b/src/engine/DynamicsWorld.h
index 22fbc495..0503ebe2 100644
--- a/src/engine/DynamicsWorld.h
+++ b/src/engine/DynamicsWorld.h
@@ -99,7 +99,7 @@ class DynamicsWorld : public CollisionWorld {
         /// Private assignment operator
         DynamicsWorld& operator=(const DynamicsWorld& world);
 
-        /// Integrate the positions and orientations of rigid bodies
+        /// Integrate the positions and orientations of rigid bodies.
         void integrateRigidBodiesPositions();
 
         /// Update the position and orientation of a body
@@ -109,7 +109,7 @@ class DynamicsWorld : public CollisionWorld {
         /// Compute and set the interpolation factor to all bodies
         void setInterpolationFactorToAllBodies();
 
-        /// Integrate the velocities of rigid bodies
+        /// Integrate the velocities of rigid bodies.
         void integrateRigidBodiesVelocities();
 
         /// Solve the contacts and constraints