removed old damping

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()