1 files changed, 13 insertions, 5 deletions
diff --git a/frontend/_rigidbody/rigidbody_2.js b/frontend/_rigidbody/rigidbody_2.js
index c41461e..1c6b79f 100644
--- a/frontend/_rigidbody/rigidbody_2.js
+++ b/frontend/_rigidbody/rigidbody_2.js
@@ -31,22 +31,29 @@ function main() {
                 ], vec2(lProgramContext.width / 2.0, lProgramContext.height / 2.0));
 
             function update(pDeltaTimeSeconds) {
-                // Same physics updates from previously
+                // Same physics updates from part 1
                 applyForce(vec2(0, -1.0 * (lCircle.mass * GRAVITY)));
                 const lCurrentAcceleration = scaleVec2(lCircle.force, 1.0 / lCircle.mass);
                 lCircle.velocity = addVec2(lCircle.velocity, scaleVec2(lCurrentAcceleration, pDeltaTimeSeconds));
                 lCircle.position = addVec2(lCircle.position, scaleVec2(lCircle.velocity, pDeltaTimeSeconds));
                 lCircle.force = vec2();
 
-                // Calculate rotation
+                // Angular code starts here
+
+                // Retrieve the moment of inertia for our shape (Ours is a circle by default)
                 const lMomentOfInertia = getMomentOfInertia(lCircle);
+
+                // Calculate the angular acceperation (omega = T / I)
                 const lAngularAcceleration = lCircle.torque / lMomentOfInertia;
 
+                // Calculate the rotation in radians
                 lCircle.rotationVelocity += lAngularAcceleration * pDeltaTimeSeconds;
                 lCircle.rotationRadians += lCircle.rotationVelocity * pDeltaTimeSeconds;
-                lCircle.model = rotateMatrix2d(translateMatrix(mat4(), lCircle.position.x, lCircle.position.y, 0), lCircle.rotationRadians);
                 lCircle.torque = 0;
 
+                // Calculate the model as previously, but this time, also rotate it
+                lCircle.model = rotateMatrix2d(translateMatrix(mat4(), lCircle.position.x, lCircle.position.y, 0), lCircle.rotationRadians);
+                
                 // Render Code only
                 lProgramContext.gl.clearColor(0.0, 0.0, 0.0, 1.0);
                 lProgramContext.gl.clearDepth(1.0);
@@ -65,9 +72,10 @@ function main() {
 
             function applyForce(pForceVector, pPointOfApplication) {
                 if (pPointOfApplication !== undefined) {
-                    const lOriginToPointOfApp = subVec2(vec2(), pPointOfApplication), // The point of application is relative to the model (i.e. the center of the circle, not the scene)
-                        lPerpVec = vec2(-lOriginToPointOfApp.y, lOriginToPointOfApp.x);
+                    const lOriginToPointOfApp = subVec2(vec2(), pPointOfApplication),   // The point of application is relative to the model (i.e. the center of the circle, not the scene)
+                        lPerpVec = vec2(-lOriginToPointOfApp.y, lOriginToPointOfApp.x); // Retrieve the perpendicular vector
     
+                    // Calculate the torque from the perp dot (T = r_perp . F)
                     lCircle.torque += TORQUE_MULTIPLIER * dot2(lPerpVec, pForceVector);
                 }