Renamings

Source/PBDRobotics/Link.cpp

@@ -78,6 +78,7 @@ void ULink::Update(const double H, const Vector3d& ExtTransForce, const Vector3d
 	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;

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

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);
 	}