diff --git a/Content/BP_Gamemode.uasset b/Content/BP_Gamemode.uasset
deleted file mode 100644
index c4db56d..0000000
Binary files a/Content/BP_Gamemode.uasset and /dev/null differ
diff --git a/Content/Blueprints/BP_Puma.uasset b/Content/Blueprints/BP_Puma.uasset
index 55ec9b2..7a1b5e3 100644
Binary files a/Content/Blueprints/BP_Puma.uasset and b/Content/Blueprints/BP_Puma.uasset differ
diff --git a/Content/Blueprints/BP_Robot.uasset b/Content/Blueprints/BP_Robot.uasset
index faa0706..dcd2c89 100644
Binary files a/Content/Blueprints/BP_Robot.uasset and b/Content/Blueprints/BP_Robot.uasset differ
diff --git a/Content/Levels/Main.umap b/Content/Levels/Main.umap
index a6a29d2..cb17aa2 100644
Binary files a/Content/Levels/Main.umap and b/Content/Levels/Main.umap differ
diff --git a/Source/PBDRobotics/Joint.cpp b/Source/PBDRobotics/Joint.cpp
index 8906e18..3a696f6 100644
--- a/Source/PBDRobotics/Joint.cpp
+++ b/Source/PBDRobotics/Joint.cpp
@@ -27,8 +27,6 @@ Vector3d UJoint::GetSecondWorldAxis() const{
 	return SecondLink->Orientation * SecondRotateAxis;
 }
 
-
-
 void UJoint::SolvePosition(const double H) const{
 	ULink* L1 = FirstLink;
 	ULink* L2 = SecondLink;
@@ -109,7 +107,16 @@ void UJoint::SolvePosition(const double H) const{
 void UJoint::SolveVelocity(const double H) const{
 	ULink* L1 = FirstLink;
 	ULink* L2 = SecondLink;
-	
+
+	constexpr double A = 7; // Damping strength
+	const double Damp = 1 - (A * H < 0.5 ? A * H : 0.5);
+
+	L1->Velocity *= Damp;
+	L2->Velocity *= Damp;
+	L1->AngularVelocity *= Damp;
+	L2->AngularVelocity *= Damp;
+
+	/*
 	// Positional Damping
 	{
 		const Vector3d V1 = L1->Velocity;
@@ -136,14 +143,6 @@ void UJoint::SolveVelocity(const double H) const{
 		
 		//L1->AngularVelocity += I1.inverse() * R1.cross(P);
 		//L2->AngularVelocity -= I2.inverse() * R2.cross(P);
-
-		constexpr double A = 7;
-		const double Damp = 1 - A * H;
-
-		L1->Velocity *= Damp;
-		L2->Velocity *= Damp;
-		L1->AngularVelocity *= Damp;
-		L2->AngularVelocity *= Damp;
 	}
 	
 	// Rotational Damping
@@ -153,6 +152,7 @@ void UJoint::SolveVelocity(const double H) const{
 
 		
 	}
+	*/
 }
 
 UJoint::UJoint()