diff --git a/Source/PBDRobotics/Link.cpp b/Source/PBDRobotics/Link.cpp
index d4443fb..0146359 100644
--- a/Source/PBDRobotics/Link.cpp
+++ b/Source/PBDRobotics/Link.cpp
@@ -77,7 +77,8 @@ void ULink::Update(const double H, const Vector3d& ExtTransForce, const Vector3d
 	Last_Position = Position;
 	Velocity += H * ExtTransForce / Mass;
 	Position += H * Velocity;
-	
+
+	// Orientation
 	Last_Orientation = Orientation;
 	Vector3d w = AngularVelocity;
 	AngularVelocity += H * GetInertia().inverse() * (ExtRotForce - w.cross(GetInertia() * w));
@@ -86,7 +87,7 @@ void ULink::Update(const double H, const Vector3d& ExtTransForce, const Vector3d
 	Orientation.normalize();
 }
 
-void ULink::Integrate(const double H){
+void ULink::UpdateVelocity(const double H){
 	Velocity = (Position - Last_Position) / H;
 	Quaterniond DeltaOrientation = Orientation * Last_Orientation.inverse();
 	AngularVelocity = 2 * DeltaOrientation.vec() / H;
diff --git a/Source/PBDRobotics/Link.h b/Source/PBDRobotics/Link.h
index 8c27f20..d49fee6 100644
--- a/Source/PBDRobotics/Link.h
+++ b/Source/PBDRobotics/Link.h
@@ -44,7 +44,7 @@ public:
 
 	
 	void Update(const double H, const Vector3d& ExtTransForce, const Vector3d& ExtRotForce);
-	void Integrate(const double H);
+	void UpdateVelocity(const double H);
 	void UpdateInternalTransform();
 
 	// Inertia tensor in world space
diff --git a/Source/PBDRobotics/Robot.cpp b/Source/PBDRobotics/Robot.cpp
index 6f1d258..abbce24 100644
--- a/Source/PBDRobotics/Robot.cpp
+++ b/Source/PBDRobotics/Robot.cpp
@@ -60,7 +60,7 @@ void ARobot::Tick(const float DeltaTime){
 		for (const auto* Joint : Joints)
 			Joint->SolvePosition(h);
 		for (auto* Link : Links)
-			Link->Integrate(h);
+			Link->UpdateVelocity(h);
 		for (const auto* Joint : Joints)
 			Joint->SolveVelocity(h);
 	}