diff --git a/Code/Dokumentation/Other/Timestep_Impulse_Fix.odt b/Code/Dokumentation/Other/Timestep_Impulse_Fix.odt
new file mode 100644
index 00000000..25ac526e
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diff --git a/Code/Dokumentation/Other/Timestep_Impulse_Fix.pdf b/Code/Dokumentation/Other/Timestep_Impulse_Fix.pdf
new file mode 100644
index 00000000..8ee3faea
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diff --git a/Code/Dokumentation/Other/angular momentum to angular velocity.odt b/Code/Dokumentation/Other/angular momentum to angular velocity.odt
new file mode 100644
index 00000000..9cb22720
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diff --git a/Code/Dokumentation/Other/angular_momentum_to_angular_velocity.pdf b/Code/Dokumentation/Other/angular_momentum_to_angular_velocity.pdf
new file mode 100644
index 00000000..820bf412
Binary files /dev/null and b/Code/Dokumentation/Other/angular_momentum_to_angular_velocity.pdf differ
diff --git a/Code/GamePhysics/Implementation/SphericalRigidBody.cpp b/Code/GamePhysics/Implementation/SphericalRigidBody.cpp
index 9fd8d219..bb497851 100644
--- a/Code/GamePhysics/Implementation/SphericalRigidBody.cpp
+++ b/Code/GamePhysics/Implementation/SphericalRigidBody.cpp
@@ -28,7 +28,7 @@ SphericalRigidBody::SphericalRigidBody( const API::SphericalBodyDescription &des
 	this->rigid.centerPos = desc.centerPosition;
 	this->rigid.boundingReach = Float4( desc.radius, desc.radius, desc.radius, 0.0f );
 	this->rigid.SetMass_KeepMomentum( desc.mass );
-	this->rigid.SetMomentOfInertia_KeepMomentum( Formula::MomentOfInertia::CreateSphereMatrix( desc.mass, desc.radius ) );
+	this->rigid.SetMomentOfInertia_KeepMomentum( MomentOfInertia::Sphere(desc.mass, desc.radius) );
 	this->deltaPos = Float4::null;
 	this->deltaAxis = Float4::null;
 
diff --git a/Code/GamePhysics/PhysicsStructs-Impl.h b/Code/GamePhysics/PhysicsStructs-Impl.h
index 46de90cc..8918ab98 100644
--- a/Code/GamePhysics/PhysicsStructs-Impl.h
+++ b/Code/GamePhysics/PhysicsStructs-Impl.h
@@ -19,7 +19,7 @@ namespace Oyster
 				this->restitutionCoeff = 1.0f;
 				this->frictionCoeff_Dynamic = 0.5f;
 				this->frictionCoeff_Static = 0.5f;
-				this->inertiaTensor = ::Oyster::Math::Float4x4::identity;
+				this->inertiaTensor = ::Oyster::Physics3D::MomentOfInertia();
 				this->subscription_onCollision = NULL;
 				this->subscription_onCollisionResponse = NULL;
 				this->subscription_onMovement = NULL;
@@ -41,7 +41,7 @@ namespace Oyster
 				this->ignoreGravity = false;
 			}
 
-			inline CustomBodyState::CustomBodyState( ::Oyster::Math::Float mass, ::Oyster::Math::Float restitutionCoeff, ::Oyster::Math::Float staticFrictionCoeff, ::Oyster::Math::Float kineticFrictionCoeff, const ::Oyster::Math::Float4x4 &inertiaTensor, const ::Oyster::Math::Float4 &reach, const ::Oyster::Math::Float4 &centerPos, const ::Oyster::Math::Float4 &rotation, const ::Oyster::Math::Float4 &linearMomentum, const ::Oyster::Math::Float4 &angularMomentum, const ::Oyster::Math::Float4 &gravityNormal )
+			inline CustomBodyState::CustomBodyState( ::Oyster::Math::Float mass, ::Oyster::Math::Float restitutionCoeff, ::Oyster::Math::Float staticFrictionCoeff, ::Oyster::Math::Float kineticFrictionCoeff, const ::Oyster::Physics3D::MomentOfInertia &inertiaTensor, const ::Oyster::Math::Float4 &reach, const ::Oyster::Math::Float4 &centerPos, const ::Oyster::Math::Float4 &rotation, const ::Oyster::Math::Float4 &linearMomentum, const ::Oyster::Math::Float4 &angularMomentum, const ::Oyster::Math::Float4 &gravityNormal )
 			{
 				this->mass = mass;
 				this->restitutionCoeff = restitutionCoeff;
@@ -102,7 +102,7 @@ namespace Oyster
 				return this->kineticFrictionCoeff;
 			}
 
-			inline const ::Oyster::Math::Float4x4 & CustomBodyState::GetMomentOfInertia() const
+			inline const ::Oyster::Physics3D::MomentOfInertia & CustomBodyState::GetMomentOfInertia() const
 			{
 				return this->inertiaTensor;
 			}
@@ -219,20 +219,17 @@ namespace Oyster
 				this->kineticFrictionCoeff = kineticU;
 			}
 
-			inline void CustomBodyState::SetMomentOfInertia_KeepMomentum( const ::Oyster::Math::Float4x4 &tensor )
+			inline void CustomBodyState::SetMomentOfInertia_KeepMomentum( const ::Oyster::Physics3D::MomentOfInertia &tensor )
 			{
 				this->inertiaTensor = tensor;
 			}
 
-			inline void CustomBodyState::SetMomentOfInertia_KeepVelocity( const ::Oyster::Math::Float4x4 &tensor )
+			inline void CustomBodyState::SetMomentOfInertia_KeepVelocity( const ::Oyster::Physics3D::MomentOfInertia &tensor )
 			{
-				if( tensor.GetDeterminant() != 0.0f )
-				{ // sanity block!
-					::Oyster::Math::Float4x4 rotation = ::Oyster::Math3D::RotationMatrix(this->angularAxis.xyz);
-					::Oyster::Math::Float4 w = ::Oyster::Physics3D::Formula::AngularVelocity( (rotation * this->inertiaTensor).GetInverse(), this->angularMomentum );
-					this->inertiaTensor = tensor;
-					this->angularMomentum = ::Oyster::Physics3D::Formula::AngularMomentum( rotation * tensor, w );
-				}
+				::Oyster::Math::Quaternion rotation = ::Oyster::Math3D::Rotation(this->angularAxis);
+				::Oyster::Math::Float4 w = this->inertiaTensor.CalculateAngularVelocity( rotation, this->angularMomentum );
+				this->inertiaTensor = tensor;
+				this->angularMomentum = this->inertiaTensor.CalculateAngularMomentum( rotation, w );
 			}
 		
 			inline void CustomBodyState::SetSize( const ::Oyster::Math::Float4 &size )
diff --git a/Code/GamePhysics/PhysicsStructs.h b/Code/GamePhysics/PhysicsStructs.h
index 1bc1736f..4eaaf46d 100644
--- a/Code/GamePhysics/PhysicsStructs.h
+++ b/Code/GamePhysics/PhysicsStructs.h
@@ -3,6 +3,7 @@
 
 #include "OysterMath.h"
 #include "PhysicsAPI.h"
+#include "Inertia.h"
 
 namespace Oyster { namespace Physics
 {
@@ -17,7 +18,7 @@ namespace Oyster { namespace Physics
 			::Oyster::Math::Float restitutionCoeff;
 			::Oyster::Math::Float frictionCoeff_Static;
 			::Oyster::Math::Float frictionCoeff_Dynamic;
-			::Oyster::Math::Float4x4 inertiaTensor;
+			::Oyster::Physics3D::MomentOfInertia inertiaTensor;
 			::Oyster::Physics::ICustomBody::EventAction_Collision subscription_onCollision;
 			::Oyster::Physics::ICustomBody::EventAction_CollisionResponse subscription_onCollisionResponse;
 			::Oyster::Physics::ICustomBody::EventAction_Move subscription_onMovement;
@@ -50,7 +51,7 @@ namespace Oyster { namespace Physics
 							 ::Oyster::Math::Float restitutionCoeff			= 1.0f,
 							 ::Oyster::Math::Float staticFrictionCoeff		= 1.0f,
 							 ::Oyster::Math::Float kineticFrictionCoeff		= 1.0f,
-							 const ::Oyster::Math::Float4x4 &inertiaTensor	= ::Oyster::Math::Float4x4::identity,
+							 const ::Oyster::Physics3D::MomentOfInertia &inertiaTensor = ::Oyster::Physics3D::MomentOfInertia(),
 							 const ::Oyster::Math::Float4 &reach			= ::Oyster::Math::Float4::null,
 							 const ::Oyster::Math::Float4 &centerPos		= ::Oyster::Math::Float4::standard_unit_w,
 							 const ::Oyster::Math::Float4 &rotation			= ::Oyster::Math::Float4::null,
@@ -64,7 +65,7 @@ namespace Oyster { namespace Physics
 			const ::Oyster::Math::Float		 GetRestitutionCoeff() const;
 			const ::Oyster::Math::Float		 GetFrictionCoeff_Static() const;
 			const ::Oyster::Math::Float		 GetFrictionCoeff_Kinetic() const;
-			const ::Oyster::Math::Float4x4 & GetMomentOfInertia() const;
+			const ::Oyster::Physics3D::MomentOfInertia & GetMomentOfInertia() const;
 			const ::Oyster::Math::Float4 &	 GetReach() const;
 				  ::Oyster::Math::Float4	 GetSize() const;
 			const ::Oyster::Math::Float4 &	 GetCenterPosition() const;
@@ -87,8 +88,8 @@ namespace Oyster { namespace Physics
 			void SetMass_KeepVelocity( ::Oyster::Math::Float m );
 			void SetRestitutionCoeff( ::Oyster::Math::Float e );
 			void SetFrictionCoeff( ::Oyster::Math::Float staticU, ::Oyster::Math::Float kineticU );
-			void SetMomentOfInertia_KeepMomentum( const ::Oyster::Math::Float4x4 &tensor );
-			void SetMomentOfInertia_KeepVelocity( const ::Oyster::Math::Float4x4 &tensor );
+			void SetMomentOfInertia_KeepMomentum( const ::Oyster::Physics3D::MomentOfInertia &tensor );
+			void SetMomentOfInertia_KeepVelocity( const ::Oyster::Physics3D::MomentOfInertia &tensor );
 			void SetSize( const ::Oyster::Math::Float4 &size );
 			void SetReach( const ::Oyster::Math::Float4 &halfSize );
 			void SetCenterPosition( const ::Oyster::Math::Float4 &centerPos );
@@ -115,7 +116,7 @@ namespace Oyster { namespace Physics
 
 		private:
 			::Oyster::Math::Float mass, restitutionCoeff, staticFrictionCoeff, kineticFrictionCoeff;
-			::Oyster::Math::Float4x4 inertiaTensor;
+			::Oyster::Physics3D::MomentOfInertia inertiaTensor;
 			::Oyster::Math::Float4 reach, centerPos, angularAxis;
 			::Oyster::Math::Float4 linearMomentum, angularMomentum;
 			::Oyster::Math::Float4 linearImpulse, angularImpulse;
diff --git a/Code/OysterMath/LinearMath.h b/Code/OysterMath/LinearMath.h
index 947f1d0f..50bcd36b 100644
--- a/Code/OysterMath/LinearMath.h
+++ b/Code/OysterMath/LinearMath.h
@@ -35,7 +35,7 @@ namespace std
 // x2
 
 template<typename ScalarType>
-::LinearAlgebra::Matrix2x2<ScalarType> operator * ( const ::LinearAlgebra::Matrix2x2<ScalarType> &left, const ::LinearAlgebra::Matrix2x2<ScalarType> &right )
+inline ::LinearAlgebra::Matrix2x2<ScalarType> operator * ( const ::LinearAlgebra::Matrix2x2<ScalarType> &left, const ::LinearAlgebra::Matrix2x2<ScalarType> &right )
 {
 	return ::LinearAlgebra::Matrix2x2<ScalarType>( (left.m11 * right.m11) + (left.m12 * right.m21),
 												   (left.m11 * right.m12) + (left.m12 * right.m22),
@@ -44,14 +44,14 @@ template<typename ScalarType>
 }
 
 template<typename ScalarType>
-::LinearAlgebra::Vector2<ScalarType> operator * ( const ::LinearAlgebra::Matrix2x2<ScalarType> &matrix, const ::LinearAlgebra::Vector2<ScalarType> &vector )
+inline ::LinearAlgebra::Vector2<ScalarType> operator * ( const ::LinearAlgebra::Matrix2x2<ScalarType> &matrix, const ::LinearAlgebra::Vector2<ScalarType> &vector )
 {
 	return ::LinearAlgebra::Vector2<ScalarType>( (matrix.m11 * vector.x) + (matrix.m12 * vector.y),
 												 (matrix.m21 * vector.x) + (matrix.m22 * vector.y) );
 }
 
 template<typename ScalarType>
-::LinearAlgebra::Vector2<ScalarType> operator * ( const ::LinearAlgebra::Vector2<ScalarType> &vector, const ::LinearAlgebra::Matrix2x2<ScalarType> &left )
+inline ::LinearAlgebra::Vector2<ScalarType> operator * ( const ::LinearAlgebra::Vector2<ScalarType> &vector, const ::LinearAlgebra::Matrix2x2<ScalarType> &left )
 {
 	return ::LinearAlgebra::Vector2<ScalarType>( (vector.x * matrix.m11) + (vector.y * matrix.m21),
 												 (vector.x * matrix.m12) + (vector.y * matrix.m22) );
@@ -60,7 +60,7 @@ template<typename ScalarType>
 // x3
 
 template<typename ScalarType>
-::LinearAlgebra::Matrix3x3<ScalarType> operator * ( const ::LinearAlgebra::Matrix3x3<ScalarType> &left, const ::LinearAlgebra::Matrix3x3<ScalarType> &right )
+inline ::LinearAlgebra::Matrix3x3<ScalarType> operator * ( const ::LinearAlgebra::Matrix3x3<ScalarType> &left, const ::LinearAlgebra::Matrix3x3<ScalarType> &right )
 {
 	return ::LinearAlgebra::Matrix3x3<ScalarType>( (left.m11 * right.m11) + (left.m12 * right.m21) + (left.m13 * right.m31), (left.m11 * right.m12) + (left.m12 * right.m22) + (left.m13 * right.m32), (left.m11 * right.m13) + (left.m12 * right.m23) + (left.m13 * right.m33),
 												   (left.m21 * right.m11) + (left.m22 * right.m21) + (left.m23 * right.m31), (left.m21 * right.m12) + (left.m22 * right.m22) + (left.m23 * right.m32), (left.m21 * right.m13) + (left.m22 * right.m23) + (left.m23 * right.m33),
@@ -68,7 +68,7 @@ template<typename ScalarType>
 }
 
 template<typename ScalarType>
-::LinearAlgebra::Vector3<ScalarType> operator * ( const ::LinearAlgebra::Matrix3x3<ScalarType> &matrix, const ::LinearAlgebra::Vector3<ScalarType> &vector )
+inline ::LinearAlgebra::Vector3<ScalarType> operator * ( const ::LinearAlgebra::Matrix3x3<ScalarType> &matrix, const ::LinearAlgebra::Vector3<ScalarType> &vector )
 {
 	return ::LinearAlgebra::Vector3<ScalarType>( (matrix.m11 * vector.x) + (matrix.m12 * vector.y) + (matrix.m13 * vector.z),
 												 (matrix.m21 * vector.x) + (matrix.m22 * vector.y) + (matrix.m23 * vector.z),
@@ -76,7 +76,7 @@ template<typename ScalarType>
 }
 
 template<typename ScalarType>
-::LinearAlgebra::Vector3<ScalarType> operator * ( const ::LinearAlgebra::Vector3<ScalarType> &vector, const ::LinearAlgebra::Matrix3x3<ScalarType> &left )
+inline ::LinearAlgebra::Vector3<ScalarType> operator * ( const ::LinearAlgebra::Vector3<ScalarType> &vector, const ::LinearAlgebra::Matrix3x3<ScalarType> &left )
 {
 	return ::LinearAlgebra::Vector3<ScalarType>( (vector.x * matrix.m11) + (vector.y * matrix.m21) + (vector.z * matrix.m31),
 												 (vector.x * matrix.m12) + (vector.y * matrix.m22) + (vector.z * matrix.m32),
@@ -86,7 +86,7 @@ template<typename ScalarType>
 // x4
 
 template<typename ScalarType>
-::LinearAlgebra::Matrix4x4<ScalarType> operator * ( const ::LinearAlgebra::Matrix4x4<ScalarType> &left, const ::LinearAlgebra::Matrix4x4<ScalarType> &right )
+inline ::LinearAlgebra::Matrix4x4<ScalarType> operator * ( const ::LinearAlgebra::Matrix4x4<ScalarType> &left, const ::LinearAlgebra::Matrix4x4<ScalarType> &right )
 {
 	return ::LinearAlgebra::Matrix4x4<ScalarType>( (left.m11 * right.m11) + (left.m12 * right.m21) + (left.m13 * right.m31) + (left.m14 * right.m41), (left.m11 * right.m12) + (left.m12 * right.m22) + (left.m13 * right.m32) + (left.m14 * right.m42), (left.m11 * right.m13) + (left.m12 * right.m23) + (left.m13 * right.m33) + (left.m14 * right.m43), (left.m11 * right.m14) + (left.m12 * right.m24) + (left.m13 * right.m34) + (left.m14 * right.m44),
 												   (left.m21 * right.m11) + (left.m22 * right.m21) + (left.m23 * right.m31) + (left.m24 * right.m41), (left.m21 * right.m12) + (left.m22 * right.m22) + (left.m23 * right.m32) + (left.m24 * right.m42), (left.m21 * right.m13) + (left.m22 * right.m23) + (left.m23 * right.m33) + (left.m24 * right.m43), (left.m21 * right.m14) + (left.m22 * right.m24) + (left.m23 * right.m34) + (left.m24 * right.m44),
@@ -95,7 +95,7 @@ template<typename ScalarType>
 }
 
 template<typename ScalarType>
-::LinearAlgebra::Vector4<ScalarType> operator * ( const ::LinearAlgebra::Matrix4x4<ScalarType> &matrix, const ::LinearAlgebra::Vector4<ScalarType> &vector )
+inline ::LinearAlgebra::Vector4<ScalarType> operator * ( const ::LinearAlgebra::Matrix4x4<ScalarType> &matrix, const ::LinearAlgebra::Vector4<ScalarType> &vector )
 {
 	return ::LinearAlgebra::Vector4<ScalarType>( (matrix.m11 * vector.x) + (matrix.m12 * vector.y) + (matrix.m13 * vector.z) + (matrix.m14 * vector.w),
 												 (matrix.m21 * vector.x) + (matrix.m22 * vector.y) + (matrix.m23 * vector.z) + (matrix.m24 * vector.w),
@@ -104,7 +104,7 @@ template<typename ScalarType>
 }
 
 template<typename ScalarType>
-::LinearAlgebra::Vector4<ScalarType> operator * ( const ::LinearAlgebra::Vector4<ScalarType> &vector, const ::LinearAlgebra::Matrix4x4<ScalarType> &matrix )
+inline ::LinearAlgebra::Vector4<ScalarType> operator * ( const ::LinearAlgebra::Vector4<ScalarType> &vector, const ::LinearAlgebra::Matrix4x4<ScalarType> &matrix )
 {
 	return ::LinearAlgebra::Vector4<ScalarType>( (vector.x * matrix.m11) + (vector.y * matrix.m21) + (vector.z * matrix.m31) + (vector.w * matrix.m41),
 												 (vector.x * matrix.m12) + (vector.y * matrix.m22) + (vector.z * matrix.m32) + (vector.w * matrix.m42),
diff --git a/Code/OysterMath/Matrix.h b/Code/OysterMath/Matrix.h
index c7b6b9e0..5d129431 100644
--- a/Code/OysterMath/Matrix.h
+++ b/Code/OysterMath/Matrix.h
@@ -163,12 +163,18 @@ namespace LinearAlgebra
 		Vector4<ScalarType>		 GetRowVector( unsigned int rowID ) const;
 		const Vector4<ScalarType> & GetColumnVector( unsigned int colID ) const;
 	};
+}
 
+template<typename ScalarType> LinearAlgebra::Matrix2x2<ScalarType> operator * ( const ScalarType &left, const LinearAlgebra::Matrix2x2<ScalarType> &right );
+template<typename ScalarType> LinearAlgebra::Matrix3x3<ScalarType> operator * ( const ScalarType &left, const LinearAlgebra::Matrix3x3<ScalarType> &right );
+template<typename ScalarType> LinearAlgebra::Matrix4x4<ScalarType> operator * ( const ScalarType &left, const LinearAlgebra::Matrix4x4<ScalarType> &right );
 
 ///////////////////////////////////////////////////////////////////////////////////
 //	Body
 ///////////////////////////////////////////////////////////////////////////////////
 
+namespace LinearAlgebra
+{
 // Matrix2x2<ScalarType> ///////////////////////////////////////
 
 	template<typename ScalarType>
@@ -753,4 +759,22 @@ namespace LinearAlgebra
 	{ return this->v[colID]; }
 }
 
+template<typename ScalarType>
+inline LinearAlgebra::Matrix2x2<ScalarType> operator * ( const ScalarType &left, const LinearAlgebra::Matrix2x2<ScalarType> &right )
+{
+	return right * left;
+}
+
+template<typename ScalarType>
+inline LinearAlgebra::Matrix3x3<ScalarType> operator * ( const ScalarType &left, const LinearAlgebra::Matrix3x3<ScalarType> &right )
+{
+	return right * left;
+}
+
+template<typename ScalarType>
+inline LinearAlgebra::Matrix4x4<ScalarType> operator * ( const ScalarType &left, const LinearAlgebra::Matrix4x4<ScalarType> &right )
+{
+	return right * left;
+}
+
 #endif
\ No newline at end of file
diff --git a/Code/OysterMath/OysterMath.h b/Code/OysterMath/OysterMath.h
index 62438e47..5970face 100644
--- a/Code/OysterMath/OysterMath.h
+++ b/Code/OysterMath/OysterMath.h
@@ -66,55 +66,29 @@ namespace Oyster { namespace Math //! Oyster's native math library
 
 inline ::Oyster::Math::Float2 & operator *= ( ::Oyster::Math::Float2 &left, const ::Oyster::Math::Float2 &right )
 {
-	left.x *= right.x;
-	left.y *= right.y;
-	return left;
+	return left.PiecewiseMultiplicationAdd( right );
 }
 
 inline ::Oyster::Math::Float2 operator * ( const ::Oyster::Math::Float2 &left, const ::Oyster::Math::Float2 &right )
-{ return ::Oyster::Math::Float2(left) *= right; }
-
-inline ::Oyster::Math::Float2 operator * ( const ::Oyster::Math::Float &left, const ::Oyster::Math::Float2 &right )
-{ return ::Oyster::Math::Float2(right) *= left; }
+{
+	return left.PiecewiseMultiplication( right );
+}
 
 inline ::Oyster::Math::Float3 & operator *= ( ::Oyster::Math::Float3 &left, const ::Oyster::Math::Float3 &right )
 {
-	left.x *= right.x;
-	left.y *= right.y;
-	left.z *= right.z;
-	return left;
+	return left.PiecewiseMultiplicationAdd( right );
 }
 
 inline ::Oyster::Math::Float3 operator * ( const ::Oyster::Math::Float3 &left, const ::Oyster::Math::Float3 &right )
-{ return ::Oyster::Math::Float3(left) *= right; }
-
-inline ::Oyster::Math::Float3 operator * ( const ::Oyster::Math::Float &left, const ::Oyster::Math::Float3 &right )
-{ return ::Oyster::Math::Float3(right) *= left; }
+{
+	return left.PiecewiseMultiplication( right );
+}
 
 inline ::Oyster::Math::Float4 & operator *= ( ::Oyster::Math::Float4 &left, const ::Oyster::Math::Float4 &right )
 {
-	left.x *= right.x;
-	left.y *= right.y;
-	left.z *= right.z;
-	left.w *= right.w;
-	return left;
+	return left.PiecewiseMultiplicationAdd( right );
 }
 
-inline ::Oyster::Math::Float4 operator * ( const ::Oyster::Math::Float4 &left, const ::Oyster::Math::Float4 &right )
-{ return ::Oyster::Math::Float4(left) *= right; }
-
-inline ::Oyster::Math::Float4 operator * ( const ::Oyster::Math::Float &left, const ::Oyster::Math::Float4 &right )
-{ return ::Oyster::Math::Float4(right) *= left; }
-
-inline ::Oyster::Math::Float2x2 operator * ( const ::Oyster::Math::Float &left, const ::Oyster::Math::Float2x2 &right )
-{ return ::Oyster::Math::Float2x2(right) *= left; }
-
-inline ::Oyster::Math::Float3x3 operator * ( const ::Oyster::Math::Float &left, const ::Oyster::Math::Float3x3 &right )
-{ return ::Oyster::Math::Float3x3(right) *= left; }
-
-inline ::Oyster::Math::Float4x4 operator * ( const ::Oyster::Math::Float &left, const ::Oyster::Math::Float4x4 &right )
-{ return ::Oyster::Math::Float4x4(right) *= left; }
-
 namespace Oyster { namespace Math2D //! Oyster's native math library specialized for 2D
 {
 	using namespace ::Oyster::Math; // deliberate inheritance from ::Oyster::Math namespace
diff --git a/Code/OysterMath/Vector.h b/Code/OysterMath/Vector.h
index 901ea5e4..ea36cfc9 100644
--- a/Code/OysterMath/Vector.h
+++ b/Code/OysterMath/Vector.h
@@ -57,6 +57,12 @@ namespace LinearAlgebra
 		ScalarType GetMagnitude( ) const;
 		ScalarType Dot( const Vector2<ScalarType> &vector ) const;
 
+		//! @return (a.x * b.x, a.y * b.y)
+		Vector2<ScalarType>   PiecewiseMultiplication( const Vector2<ScalarType> &vector ) const;
+
+		//! @return a = (a.x * b.x, a.y * b.y)
+		Vector2<ScalarType> & PiecewiseMultiplicationAdd( const Vector2<ScalarType> &vector );
+
 		Vector2<ScalarType> & Normalize( );
 		Vector2<ScalarType> GetNormalized( ) const;
 	};
@@ -112,6 +118,12 @@ namespace LinearAlgebra
 		ScalarType Dot( const Vector3<ScalarType> &vector ) const;
 		Vector3<ScalarType> Cross( const Vector3<ScalarType> &vector ) const;
 
+		//! @return (a.x * b.x, a.y * b.y, a.z * b.z)
+		Vector3<ScalarType> PiecewiseMultiplication( const Vector3<ScalarType> &vector ) const;
+
+		//! @return a = (a.x * b.x, a.y * b.y, a.z * b.z)
+		Vector3<ScalarType> & PiecewiseMultiplicationAdd( const Vector3<ScalarType> &vector );
+
 		Vector3<ScalarType> & Normalize( );
 		Vector3<ScalarType> GetNormalized( ) const;
 	};
@@ -169,14 +181,27 @@ namespace LinearAlgebra
 		ScalarType GetMagnitude( ) const;
 		ScalarType Dot( const Vector4<ScalarType> &vector ) const;
 
+		//! @return (a.x * b.x, a.y * b.y, a.z * b.z, a.w * b.w)
+		Vector4<ScalarType> PiecewiseMultiplication( const Vector4<ScalarType> &vector ) const;
+
+		//! @return a = (a.x * b.x, a.y * b.y, a.z * b.z, a.w * b.w)
+		Vector4<ScalarType> & PiecewiseMultiplicationAdd( const Vector4<ScalarType> &vector );
+
 		Vector4<ScalarType> & Normalize( );
 		Vector4<ScalarType> GetNormalized( ) const;
 	};
+}
+
+template<typename ScalarType> ::LinearAlgebra::Vector2<ScalarType> operator * ( const ScalarType &left, const ::LinearAlgebra::Vector2<ScalarType> &right );
+template<typename ScalarType> ::LinearAlgebra::Vector3<ScalarType> operator * ( const ScalarType &left, const ::LinearAlgebra::Vector3<ScalarType> &right );
+template<typename ScalarType> ::LinearAlgebra::Vector4<ScalarType> operator * ( const ScalarType &left, const ::LinearAlgebra::Vector4<ScalarType> &right );
 
 ///////////////////////////////////////////////////////////////////////////////////
 //	Body
 ///////////////////////////////////////////////////////////////////////////////////
 
+namespace LinearAlgebra
+{
 // Vector2<ScalarType> ///////////////////////////////////////
 
 	template<typename ScalarType> const Vector2<ScalarType> Vector2<ScalarType>::null = Vector2<ScalarType>( 0, 0 );
@@ -184,22 +209,22 @@ namespace LinearAlgebra
 	template<typename ScalarType> const Vector2<ScalarType> Vector2<ScalarType>::standard_unit_y = Vector2<ScalarType>( 0, 1 );
 
 	template<typename ScalarType>
-	Vector2<ScalarType>::Vector2( ) : x(), y() {}
+	inline Vector2<ScalarType>::Vector2( ) : x(), y() {}
 
 	template<typename ScalarType>
-	Vector2<ScalarType>::Vector2( const Vector2<ScalarType> &vector )
+	inline Vector2<ScalarType>::Vector2( const Vector2<ScalarType> &vector )
 	{ this->x = vector.x; this->y = vector.y; }
 
 	template<typename ScalarType>
-	Vector2<ScalarType>::Vector2( const ScalarType &_element )
+	inline Vector2<ScalarType>::Vector2( const ScalarType &_element )
 	{ this->x = this->y = _element; }
 
 	template<typename ScalarType>
-	Vector2<ScalarType>::Vector2( const ScalarType _element[2] )
+	inline Vector2<ScalarType>::Vector2( const ScalarType _element[2] )
 	{ this->x = _element[0]; this->y = _element[1]; }
 
 	template<typename ScalarType>
-	Vector2<ScalarType>::Vector2( const ScalarType &_x, const ScalarType &_y )
+	inline Vector2<ScalarType>::Vector2( const ScalarType &_x, const ScalarType &_y )
 	{ this->x = _x; this->y = _y; }
 
 	template<typename ScalarType>
@@ -227,7 +252,7 @@ namespace LinearAlgebra
 	{ return this->element[i]; }
 
 	template<typename ScalarType>
-	Vector2<ScalarType> & Vector2<ScalarType>::operator = ( const Vector2<ScalarType> &vector )
+	inline Vector2<ScalarType> & Vector2<ScalarType>::operator = ( const Vector2<ScalarType> &vector )
 	{
 		this->element[0] = vector.element[0];
 		this->element[1] = vector.element[1];
@@ -235,7 +260,7 @@ namespace LinearAlgebra
 	}
 
 	template<typename ScalarType>
-	Vector2<ScalarType> & Vector2<ScalarType>::operator = ( const ScalarType _element[2] )
+	inline Vector2<ScalarType> & Vector2<ScalarType>::operator = ( const ScalarType _element[2] )
 	{
 		this->element[0] = _element[0];
 		this->element[1] = _element[1];
@@ -243,7 +268,7 @@ namespace LinearAlgebra
 	}
 
 	template<typename ScalarType>
-	Vector2<ScalarType> & Vector2<ScalarType>::operator *= ( const ScalarType &scalar )
+	inline Vector2<ScalarType> & Vector2<ScalarType>::operator *= ( const ScalarType &scalar )
 	{
 		this->element[0] *= scalar;
 		this->element[1] *= scalar;
@@ -251,7 +276,7 @@ namespace LinearAlgebra
 	}
 
 	template<typename ScalarType>
-	Vector2<ScalarType> & Vector2<ScalarType>::operator /= ( const ScalarType &scalar )
+	inline Vector2<ScalarType> & Vector2<ScalarType>::operator /= ( const ScalarType &scalar )
 	{
 		this->element[0] /= scalar;
 		this->element[1] /= scalar;
@@ -259,7 +284,7 @@ namespace LinearAlgebra
 	}
 
 	template<typename ScalarType>
-	Vector2<ScalarType> & Vector2<ScalarType>::operator += ( const Vector2<ScalarType> &vector )
+	inline Vector2<ScalarType> & Vector2<ScalarType>::operator += ( const Vector2<ScalarType> &vector )
 	{
 		this->element[0] += vector.element[0];
 		this->element[1] += vector.element[1];
@@ -267,7 +292,7 @@ namespace LinearAlgebra
 	}
 
 	template<typename ScalarType>
-	Vector2<ScalarType> & Vector2<ScalarType>::operator -= ( const Vector2<ScalarType> &vector )
+	inline Vector2<ScalarType> & Vector2<ScalarType>::operator -= ( const Vector2<ScalarType> &vector )
 	{
 		this->element[0] -= vector.element[0];
 		this->element[1] -= vector.element[1];
@@ -295,7 +320,7 @@ namespace LinearAlgebra
 	{ return Vector2<ScalarType>(-this->x, -this->y); }
 
 	template<typename ScalarType>
-	bool Vector2<ScalarType>::operator == ( const Vector2<ScalarType> &vector ) const
+	inline bool Vector2<ScalarType>::operator == ( const Vector2<ScalarType> &vector ) const
 	{
 		if( this->x != vector.x ) return false;
 		if( this->y != vector.y ) return false;
@@ -303,7 +328,7 @@ namespace LinearAlgebra
 	}
 
 	template<typename ScalarType>
-	bool Vector2<ScalarType>::operator != ( const Vector2<ScalarType> &vector ) const
+	inline bool Vector2<ScalarType>::operator != ( const Vector2<ScalarType> &vector ) const
 	{
 		if( this->x != vector.x ) return true;
 		if( this->y != vector.y ) return true;
@@ -319,7 +344,7 @@ namespace LinearAlgebra
 	{ return (ScalarType) ::sqrt( this->Dot(*this) ); }	
 
 	template<typename ScalarType>
-	ScalarType Vector2<ScalarType>::Dot( const Vector2<ScalarType> &vector ) const
+	inline ScalarType Vector2<ScalarType>::Dot( const Vector2<ScalarType> &vector ) const
 	{
 		ScalarType value = 0;
 		value += this->element[0] * vector.element[0];
@@ -327,6 +352,20 @@ namespace LinearAlgebra
 		return value;
 	}
 
+	template<typename ScalarType>
+	inline Vector2<ScalarType> Vector2<ScalarType>::PiecewiseMultiplication( const Vector2<ScalarType> &vector ) const
+	{
+		return Vector2<ScalarType>( this->x * vector.x, this->y * vector.y );
+	}
+
+	template<typename ScalarType>
+	inline Vector2<ScalarType> & Vector2<ScalarType>::PiecewiseMultiplicationAdd( const Vector2<ScalarType> &vector )
+	{
+		this->x *= vector.x;
+		this->y *= vector.y;
+		return *this;
+	}
+
 	template<typename ScalarType>
 	inline Vector2<ScalarType> & Vector2<ScalarType>::Normalize( )
 	{ return (*this) /= this->GetLength(); }
@@ -343,26 +382,26 @@ namespace LinearAlgebra
 	template<typename ScalarType> const Vector3<ScalarType> Vector3<ScalarType>::standard_unit_z = Vector3<ScalarType>( 0, 0, 1 );
 
 	template<typename ScalarType>
-	Vector3<ScalarType>::Vector3( ) : x(), y(), z() {}
+	inline Vector3<ScalarType>::Vector3( ) : x(), y(), z() {}
 
 	template<typename ScalarType>
-	Vector3<ScalarType>::Vector3( const Vector3<ScalarType> &vector )
+	inline Vector3<ScalarType>::Vector3( const Vector3<ScalarType> &vector )
 	{ this->x = vector.x; this->y = vector.y; this->z = vector.z; }
 
 	template<typename ScalarType>
-	Vector3<ScalarType>::Vector3( const Vector2<ScalarType> &vector, const ScalarType &_z )
+	inline Vector3<ScalarType>::Vector3( const Vector2<ScalarType> &vector, const ScalarType &_z )
 	{ this->x = vector.x; this->y = vector.y; this->z = _z; }
 
 	template<typename ScalarType>
-	Vector3<ScalarType>::Vector3( const ScalarType &_element )
+	inline Vector3<ScalarType>::Vector3( const ScalarType &_element )
 	{ this->x = this->y = this->z = _element; }
 
 	template<typename ScalarType>
-	Vector3<ScalarType>::Vector3( const ScalarType _element[3] )
+	inline Vector3<ScalarType>::Vector3( const ScalarType _element[3] )
 	{ this->x = _element[0]; this->y = _element[1]; this->z = _element[2]; }
 
 	template<typename ScalarType>
-	Vector3<ScalarType>::Vector3( const ScalarType &_x, const ScalarType &_y, const ScalarType &_z )
+	inline Vector3<ScalarType>::Vector3( const ScalarType &_x, const ScalarType &_y, const ScalarType &_z )
 	{ this->x = _x; this->y = _y; this->z = _z; }
 
 	template<typename ScalarType>
@@ -382,7 +421,7 @@ namespace LinearAlgebra
 	{ return this->element[i]; }
 
 	template<typename ScalarType>
-	Vector3<ScalarType> & Vector3<ScalarType>::operator = ( const Vector3<ScalarType> &vector )
+	inline Vector3<ScalarType> & Vector3<ScalarType>::operator = ( const Vector3<ScalarType> &vector )
 	{
 		this->element[0] = vector.element[0];
 		this->element[1] = vector.element[1];
@@ -391,7 +430,7 @@ namespace LinearAlgebra
 	}
 
 	template<typename ScalarType>
-	Vector3<ScalarType> & Vector3<ScalarType>::operator = ( const ScalarType element[3] )
+	inline Vector3<ScalarType> & Vector3<ScalarType>::operator = ( const ScalarType element[3] )
 	{
 		this->element[0] = element[0];
 		this->element[1] = element[1];
@@ -400,7 +439,7 @@ namespace LinearAlgebra
 	}
 
 	template<typename ScalarType>
-	Vector3<ScalarType> & Vector3<ScalarType>::operator *= ( const ScalarType &scalar )
+	inline Vector3<ScalarType> & Vector3<ScalarType>::operator *= ( const ScalarType &scalar )
 	{
 		this->element[0] *= scalar;
 		this->element[1] *= scalar;
@@ -409,7 +448,7 @@ namespace LinearAlgebra
 	}
 
 	template<typename ScalarType>
-	Vector3<ScalarType> & Vector3<ScalarType>::operator /= ( const ScalarType &scalar )
+	inline Vector3<ScalarType> & Vector3<ScalarType>::operator /= ( const ScalarType &scalar )
 	{
 		this->element[0] /= scalar;
 		this->element[1] /= scalar;
@@ -418,7 +457,7 @@ namespace LinearAlgebra
 	}
 
 	template<typename ScalarType>
-	Vector3<ScalarType> & Vector3<ScalarType>::operator += ( const Vector3<ScalarType> &vector )
+	inline Vector3<ScalarType> & Vector3<ScalarType>::operator += ( const Vector3<ScalarType> &vector )
 	{
 		this->element[0] += vector.element[0];
 		this->element[1] += vector.element[1];
@@ -427,7 +466,7 @@ namespace LinearAlgebra
 	}
 
 	template<typename ScalarType>
-	Vector3<ScalarType> & Vector3<ScalarType>::operator -= ( const Vector3<ScalarType> &vector )
+	inline Vector3<ScalarType> & Vector3<ScalarType>::operator -= ( const Vector3<ScalarType> &vector )
 	{
 		this->element[0] -= vector.element[0];
 		this->element[1] -= vector.element[1];
@@ -456,7 +495,7 @@ namespace LinearAlgebra
 	{ return Vector3<ScalarType>(-this->x, -this->y, -this->z); }
 
 	template<typename ScalarType>
-	bool Vector3<ScalarType>::operator == ( const Vector3<ScalarType> &vector ) const
+	inline bool Vector3<ScalarType>::operator == ( const Vector3<ScalarType> &vector ) const
 	{
 		if( this->x != vector.x ) return false;
 		if( this->y != vector.y ) return false;
@@ -465,7 +504,7 @@ namespace LinearAlgebra
 	}
 
 	template<typename ScalarType>
-	bool Vector3<ScalarType>::operator != ( const Vector3<ScalarType> &vector ) const
+	inline bool Vector3<ScalarType>::operator != ( const Vector3<ScalarType> &vector ) const
 	{
 		if( this->x != vector.x ) return true;
 		if( this->y != vector.y ) return true;
@@ -482,7 +521,7 @@ namespace LinearAlgebra
 	{ return (ScalarType) ::sqrt( this->Dot(*this) ); }
 
 	template<typename ScalarType>
-	ScalarType Vector3<ScalarType>::Dot( const Vector3<ScalarType> &vector ) const
+	inline ScalarType Vector3<ScalarType>::Dot( const Vector3<ScalarType> &vector ) const
 	{
 		ScalarType value = 0;
 		value += this->element[0] * vector.element[0];
@@ -492,13 +531,28 @@ namespace LinearAlgebra
 	}
 
 	template<typename ScalarType>
-	Vector3<ScalarType> Vector3<ScalarType>::Cross( const Vector3<ScalarType> &vector ) const
+	inline Vector3<ScalarType> Vector3<ScalarType>::Cross( const Vector3<ScalarType> &vector ) const
 	{
 		return Vector3<ScalarType>( (this->y*vector.z) - (this->z*vector.y),
 									 (this->z*vector.x) - (this->x*vector.z),
 									 (this->x*vector.y) - (this->y*vector.x) );
 	}
 
+	template<typename ScalarType>
+	inline Vector3<ScalarType> Vector3<ScalarType>::PiecewiseMultiplication( const Vector3<ScalarType> &vector ) const
+	{
+		return Vector3<ScalarType>( this->x * vector.x, this->y * vector.y, this->z * vector.z );
+	}
+
+	template<typename ScalarType>
+	inline Vector3<ScalarType> & Vector3<ScalarType>::PiecewiseMultiplicationAdd( const Vector3<ScalarType> &vector )
+	{
+		this->x *= vector.x;
+		this->y *= vector.y;
+		this->z *= vector.z;
+		return *this;
+	}
+
 	template<typename ScalarType>
 	inline Vector3<ScalarType> & Vector3<ScalarType>::Normalize( )
 	{ return (*this) /= this->GetLength(); }
@@ -516,30 +570,30 @@ namespace LinearAlgebra
 	template<typename ScalarType> const Vector4<ScalarType> Vector4<ScalarType>::standard_unit_w = Vector4<ScalarType>( 0, 0, 0, 1 );
 
 	template<typename ScalarType>
-	Vector4<ScalarType>::Vector4( ) : x(), y(), z(), w() {}
+	inline Vector4<ScalarType>::Vector4( ) : x(), y(), z(), w() {}
 
 	template<typename ScalarType>
-	Vector4<ScalarType>::Vector4( const Vector4<ScalarType> &vector )
+	inline Vector4<ScalarType>::Vector4( const Vector4<ScalarType> &vector )
 	{ this->x = vector.x; this->y = vector.y; this->z = vector.z; this->w = vector.w; }
 
 	template<typename ScalarType>
-	Vector4<ScalarType>::Vector4( const Vector3<ScalarType> &vector, const ScalarType &_w )
+	inline Vector4<ScalarType>::Vector4( const Vector3<ScalarType> &vector, const ScalarType &_w )
 	{ this->x = vector.x; this->y = vector.y; this->z = vector.z; this->w = _w; }
 
 	template<typename ScalarType>
-	Vector4<ScalarType>::Vector4( const Vector2<ScalarType> &vector, const ScalarType &_z, const ScalarType &_w )
+	inline Vector4<ScalarType>::Vector4( const Vector2<ScalarType> &vector, const ScalarType &_z, const ScalarType &_w )
 	{ this->x = vector.x; this->y = vector.y; this->z = _z; this->w = _w; }
 
 	template<typename ScalarType>
-	Vector4<ScalarType>::Vector4( const ScalarType &_element )
+	inline Vector4<ScalarType>::Vector4( const ScalarType &_element )
 	{ this->x = this->y = this->z = this->w = _element; }
 
 	template<typename ScalarType>
-	Vector4<ScalarType>::Vector4( const ScalarType _element[4] )
+	inline Vector4<ScalarType>::Vector4( const ScalarType _element[4] )
 	{ this->x = _element[0]; this->y = _element[1]; this->z = _element[2]; this->w = _element[3]; }
 
 	template<typename ScalarType>
-	Vector4<ScalarType>::Vector4( const ScalarType &_x, const ScalarType &_y, const ScalarType &_z, const ScalarType &_w )
+	inline Vector4<ScalarType>::Vector4( const ScalarType &_x, const ScalarType &_y, const ScalarType &_z, const ScalarType &_w )
 	{ this->x = _x; this->y = _y; this->z = _z; this->w = _w; }
 
 	template<typename ScalarType>
@@ -559,7 +613,7 @@ namespace LinearAlgebra
 	{ return this->element[i]; }
 
 	template<typename ScalarType>
-	Vector4<ScalarType> & Vector4<ScalarType>::operator = ( const Vector4<ScalarType> &vector )
+	inline Vector4<ScalarType> & Vector4<ScalarType>::operator = ( const Vector4<ScalarType> &vector )
 	{
 		this->element[0] = vector.element[0];
 		this->element[1] = vector.element[1];
@@ -569,7 +623,7 @@ namespace LinearAlgebra
 	}
 
 	template<typename ScalarType>
-	Vector4<ScalarType> & Vector4<ScalarType>::operator = ( const ScalarType element[4] )
+	inline Vector4<ScalarType> & Vector4<ScalarType>::operator = ( const ScalarType element[4] )
 	{
 		this->element[0] = element[0];
 		this->element[1] = element[1];
@@ -579,7 +633,7 @@ namespace LinearAlgebra
 	}
 
 	template<typename ScalarType>
-	Vector4<ScalarType> & Vector4<ScalarType>::operator *= ( const ScalarType &scalar )
+	inline Vector4<ScalarType> & Vector4<ScalarType>::operator *= ( const ScalarType &scalar )
 	{
 		this->element[0] *= scalar;
 		this->element[1] *= scalar;
@@ -589,7 +643,7 @@ namespace LinearAlgebra
 	}
 
 	template<typename ScalarType>
-	Vector4<ScalarType> & Vector4<ScalarType>::operator /= ( const ScalarType &scalar )
+	inline Vector4<ScalarType> & Vector4<ScalarType>::operator /= ( const ScalarType &scalar )
 	{
 		this->element[0] /= scalar;
 		this->element[1] /= scalar;
@@ -599,7 +653,7 @@ namespace LinearAlgebra
 	}
 
 	template<typename ScalarType>
-	Vector4<ScalarType> & Vector4<ScalarType>::operator += ( const Vector4<ScalarType> &vector )
+	inline Vector4<ScalarType> & Vector4<ScalarType>::operator += ( const Vector4<ScalarType> &vector )
 	{
 		this->element[0] += vector.element[0];
 		this->element[1] += vector.element[1];
@@ -609,7 +663,7 @@ namespace LinearAlgebra
 	}
 
 	template<typename ScalarType>
-	Vector4<ScalarType> & Vector4<ScalarType>::operator -= ( const Vector4<ScalarType> &vector )
+	inline Vector4<ScalarType> & Vector4<ScalarType>::operator -= ( const Vector4<ScalarType> &vector )
 	{
 		this->element[0] -= vector.element[0];
 		this->element[1] -= vector.element[1];
@@ -639,7 +693,7 @@ namespace LinearAlgebra
 	{ return Vector4<ScalarType>(-this->x, -this->y, -this->z, -this->w); }
 
 	template<typename ScalarType>
-	bool Vector4<ScalarType>::operator == ( const Vector4<ScalarType> &vector ) const
+	inline bool Vector4<ScalarType>::operator == ( const Vector4<ScalarType> &vector ) const
 	{
 		if( this->x != vector.x ) return false;
 		if( this->y != vector.y ) return false;
@@ -649,7 +703,7 @@ namespace LinearAlgebra
 	}
 
 	template<typename ScalarType>
-	bool Vector4<ScalarType>::operator != ( const Vector4<ScalarType> &vector ) const
+	inline bool Vector4<ScalarType>::operator != ( const Vector4<ScalarType> &vector ) const
 	{
 		if( this->x != vector.x ) return true;
 		if( this->y != vector.y ) return true;
@@ -667,7 +721,7 @@ namespace LinearAlgebra
 	{ return (ScalarType) ::sqrt( this->Dot(*this) ); }	
 
 	template<typename ScalarType>
-	ScalarType Vector4<ScalarType>::Dot( const Vector4<ScalarType> &vector ) const
+	inline ScalarType Vector4<ScalarType>::Dot( const Vector4<ScalarType> &vector ) const
 	{
 		ScalarType value = 0;
 		value += this->element[0] * vector.element[0];
@@ -677,6 +731,22 @@ namespace LinearAlgebra
 		return value;
 	}
 
+	template<typename ScalarType>
+	inline Vector4<ScalarType> Vector4<ScalarType>::PiecewiseMultiplication( const Vector4<ScalarType> &vector ) const
+	{
+		return Vector4<ScalarType>( this->x * vector.x, this->y * vector.y, this->z * vector.z, this->w * vector.w );
+	}
+
+	template<typename ScalarType>
+	inline Vector4<ScalarType> & Vector4<ScalarType>::PiecewiseMultiplicationAdd( const Vector4<ScalarType> &vector )
+	{
+		this->x *= vector.x;
+		this->y *= vector.y;
+		this->z *= vector.z;
+		this->w *= vector.w;
+		return *this;
+	}
+
 	template<typename ScalarType>
 	inline Vector4<ScalarType> & Vector4<ScalarType>::Normalize( )
 	{ return (*this) /= this->GetLength(); }
@@ -686,4 +756,22 @@ namespace LinearAlgebra
 	{ return Vector4<ScalarType>(*this).Normalize(); }
 }
 
+template<typename ScalarType>
+inline ::LinearAlgebra::Vector2<ScalarType> operator * ( const ScalarType &left, const ::LinearAlgebra::Vector2<ScalarType> &right )
+{
+	return right * left;
+}
+
+template<typename ScalarType>
+inline ::LinearAlgebra::Vector3<ScalarType> operator * ( const ScalarType &left, const ::LinearAlgebra::Vector3<ScalarType> &right )
+{
+	return right * left;
+}
+
+template<typename ScalarType>
+inline ::LinearAlgebra::Vector4<ScalarType> operator * ( const ScalarType &left, const ::LinearAlgebra::Vector4<ScalarType> &right )
+{
+	return right * left;
+}
+
 #endif
\ No newline at end of file
diff --git a/Code/OysterPhysics3D/Inertia.cpp b/Code/OysterPhysics3D/Inertia.cpp
new file mode 100644
index 00000000..69df0e01
--- /dev/null
+++ b/Code/OysterPhysics3D/Inertia.cpp
@@ -0,0 +1,51 @@
+/********************************************************************
+ * Created by Dan Andersson 2014
+ ********************************************************************/
+
+#include "Inertia.h"
+
+using namespace ::Oyster::Math3D;
+using namespace ::Oyster::Physics3D;
+
+MomentOfInertia::MomentOfInertia()
+{
+	this->rotation = Quaternion::identity;
+	this->magnitude = Float3( 1.0f );
+}
+
+MomentOfInertia::MomentOfInertia( const Quaternion &r, const Float3 &m )
+{
+	this->rotation = r;
+	this->magnitude = m;
+}
+
+MomentOfInertia & MomentOfInertia::operator = ( const MomentOfInertia &i )
+{
+	this->rotation = i.rotation;
+	this->magnitude = i.magnitude;
+	return *this;
+}
+
+Float4 MomentOfInertia::CalculateAngularVelocity( const Quaternion &externR, const Float4 &h ) const
+{
+	return this->CalculateAngularVelocity( externR, h, Float4() );
+}
+
+Float4 & MomentOfInertia::CalculateAngularVelocity( const Quaternion &externR, const Float4 &h, Float4 &targetMem ) const
+{ // w = (R * I_R) * I_M^-1 * (R * I_R)^-1 * h
+	Float4x4 rotation = RotationMatrix( externR ) * RotationMatrix( this->rotation );
+	Float4 w = rotation.GetInverse() * h;
+	return targetMem = rotation * w.PiecewiseMultiplicationAdd( Float4(1.0f / this->magnitude.x, 1.0f / this->magnitude.y, 1.0f / this->magnitude.z, 0.0f) );
+}
+
+Float4 MomentOfInertia::CalculateAngularMomentum( const Quaternion &externR, const Float4 &w ) const
+{
+	return this->CalculateAngularMomentum( externR, w, Float4() );
+}
+
+Float4 & MomentOfInertia::CalculateAngularMomentum( const Quaternion &externR, const Float4 &w, Float4 &targetMem ) const
+{ // h = (R * I_R) * I_M * (R * I_R)^-1 * w
+	Float4x4 rotation = RotationMatrix( externR ) * RotationMatrix( this->rotation );
+	Float4 h = rotation.GetInverse() * w;
+	return targetMem = rotation * h.PiecewiseMultiplicationAdd( Float4(this->magnitude.x, this->magnitude.y, this->magnitude.z, 0.0f) );
+}
\ No newline at end of file
diff --git a/Code/OysterPhysics3D/Inertia.h b/Code/OysterPhysics3D/Inertia.h
new file mode 100644
index 00000000..c7ffc49f
--- /dev/null
+++ b/Code/OysterPhysics3D/Inertia.h
@@ -0,0 +1,119 @@
+/********************************************************************
+ * Created by Dan Andersson & Robin Engman 2014
+ ********************************************************************/
+
+#ifndef OYSTER_PHYSICS_3D_INERTIA_H
+#define OYSTER_PHYSICS_3D_INERTIA_H
+
+#include "OysterMath.h"
+
+namespace Oyster { namespace Physics3D
+{
+	struct MomentOfInertia
+	{
+		::Oyster::Math::Quaternion rotation;
+		::Oyster::Math::Float3 magnitude;
+
+		MomentOfInertia();
+		MomentOfInertia( const ::Oyster::Math::Quaternion &r, const ::Oyster::Math::Float3 &m );
+
+		MomentOfInertia & operator = ( const MomentOfInertia &i );
+
+		::Oyster::Math::Float4   CalculateAngularVelocity( const ::Oyster::Math::Quaternion &externR, const ::Oyster::Math::Float4 &angularMomentum ) const;
+		::Oyster::Math::Float4 & CalculateAngularVelocity( const ::Oyster::Math::Quaternion &externR, const ::Oyster::Math::Float4 &angularMomentum, ::Oyster::Math::Float4 &targetMem ) const;
+
+		::Oyster::Math::Float4   CalculateAngularMomentum( const ::Oyster::Math::Quaternion &externR, const ::Oyster::Math::Float4 &angularVelocity ) const;
+		::Oyster::Math::Float4 & CalculateAngularMomentum( const ::Oyster::Math::Quaternion &externR, const ::Oyster::Math::Float4 &angularVelocity, ::Oyster::Math::Float4 &targetMem ) const;
+
+		static ::Oyster::Math::Float CalculateSphere( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius );
+		static ::Oyster::Math::Float CalculateHollowSphere( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius );
+		static ::Oyster::Math::Float CalculateCuboidX( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float height, const ::Oyster::Math::Float depth );
+		static ::Oyster::Math::Float CalculateCuboidY( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float width, const ::Oyster::Math::Float depth );
+		static ::Oyster::Math::Float CalculateCuboidZ( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float width, const ::Oyster::Math::Float height );
+		static ::Oyster::Math::Float CalculateRodCenter( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float length );
+		static ::Oyster::Math::Float CalculateCylinderXY( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float height, const ::Oyster::Math::Float radius );
+		static ::Oyster::Math::Float CalculateCylinderZ( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius );
+
+		static MomentOfInertia Sphere( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius );
+		static MomentOfInertia HollowSphere( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius );
+		static MomentOfInertia Cuboid( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float height, const ::Oyster::Math::Float width, const ::Oyster::Math::Float depth );
+		static MomentOfInertia RodCenter( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float length );
+		static MomentOfInertia Cylinder( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float height, const ::Oyster::Math::Float radius );
+	};
+
+	inline ::Oyster::Math::Float MomentOfInertia::CalculateSphere( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius )
+	{
+		return (2.0f / 5.0f) * mass * radius * radius;
+	}
+
+	inline ::Oyster::Math::Float MomentOfInertia::CalculateHollowSphere( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius )
+	{
+		return (2.0f / 3.0f) * mass * radius * radius;
+	}
+
+	inline ::Oyster::Math::Float MomentOfInertia::CalculateCuboidX( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float height, const ::Oyster::Math::Float depth )
+	{
+		return (1.0f / 12.0f) * mass * (height * height + depth * depth);
+	}
+
+	inline ::Oyster::Math::Float MomentOfInertia::CalculateCuboidY( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float width, const ::Oyster::Math::Float depth )
+	{
+		return (1.0f / 12.0f) * mass * (width * width + depth * depth);
+	}
+
+	inline ::Oyster::Math::Float MomentOfInertia::CalculateCuboidZ( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float width, const ::Oyster::Math::Float height )
+	{
+		return (1.0f / 12.0f) * mass * (height * height + width * width);
+	}
+
+	inline ::Oyster::Math::Float MomentOfInertia::CalculateRodCenter( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float length )
+	{
+		return (1.0f / 12.0f) * mass * length * length;
+	}
+
+	inline ::Oyster::Math::Float MomentOfInertia::CalculateCylinderXY( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float height, const ::Oyster::Math::Float radius )
+	{
+		return (1.0f / 12.0f) * mass * (3.0f * radius * radius + height * height);
+	}
+
+	inline ::Oyster::Math::Float MomentOfInertia::CalculateCylinderZ( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius )
+	{
+		return 0.5f * mass * radius * radius;
+	}
+
+	inline MomentOfInertia MomentOfInertia::Sphere( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius )
+	{
+		return MomentOfInertia( ::Oyster::Math::Quaternion::identity,
+								::Oyster::Math::Float3(MomentOfInertia::CalculateSphere(mass, radius)) );
+	}
+
+	inline MomentOfInertia MomentOfInertia::HollowSphere( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius )
+	{
+		return MomentOfInertia( ::Oyster::Math::Quaternion::identity,
+								::Oyster::Math::Float3(MomentOfInertia::CalculateHollowSphere(mass, radius)) );
+	}
+
+	inline MomentOfInertia MomentOfInertia::Cuboid( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float height, const ::Oyster::Math::Float width, const ::Oyster::Math::Float depth )
+	{
+		return MomentOfInertia( ::Oyster::Math::Quaternion::identity,
+								::Oyster::Math::Float3(MomentOfInertia::CalculateCuboidX(mass, height, depth),
+													   MomentOfInertia::CalculateCuboidY(mass, width,  depth),
+													   MomentOfInertia::CalculateCuboidZ(mass, height, width)) );
+	}
+
+	inline MomentOfInertia MomentOfInertia::RodCenter( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float length )
+	{
+		return MomentOfInertia( ::Oyster::Math::Quaternion::identity,
+								::Oyster::Math::Float3(MomentOfInertia::CalculateRodCenter(mass , length)) );
+	}
+
+	inline MomentOfInertia MomentOfInertia::Cylinder( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float height, const ::Oyster::Math::Float radius )
+	{
+		::Oyster::Math::Float cylinderXY = MomentOfInertia::CalculateCylinderXY( mass , height, radius );
+		return MomentOfInertia( ::Oyster::Math::Quaternion::identity,
+								::Oyster::Math::Float3(cylinderXY, cylinderXY,
+													   MomentOfInertia::CalculateCylinderZ(mass, radius)) );
+	}
+} }
+
+#endif
\ No newline at end of file
diff --git a/Code/OysterPhysics3D/OysterPhysics3D.vcxproj b/Code/OysterPhysics3D/OysterPhysics3D.vcxproj
index 186ea535..dffeca4f 100644
--- a/Code/OysterPhysics3D/OysterPhysics3D.vcxproj
+++ b/Code/OysterPhysics3D/OysterPhysics3D.vcxproj
@@ -155,6 +155,7 @@
     <ClInclude Include="FluidDrag.h" />
     <ClInclude Include="Frustrum.h" />
     <ClInclude Include="ICollideable.h" />
+    <ClInclude Include="Inertia.h" />
     <ClInclude Include="Line.h" />
     <ClInclude Include="OysterCollision3D.h" />
     <ClInclude Include="OysterPhysics3D.h" />
@@ -174,6 +175,7 @@
     <ClCompile Include="FluidDrag.cpp" />
     <ClCompile Include="Frustrum.cpp" />
     <ClCompile Include="ICollideable.cpp" />
+    <ClCompile Include="Inertia.cpp" />
     <ClCompile Include="Line.cpp" />
     <ClCompile Include="OysterCollision3D.cpp" />
     <ClCompile Include="Particle.cpp" />
diff --git a/Code/OysterPhysics3D/OysterPhysics3D.vcxproj.filters b/Code/OysterPhysics3D/OysterPhysics3D.vcxproj.filters
index 02919d28..da336ce5 100644
--- a/Code/OysterPhysics3D/OysterPhysics3D.vcxproj.filters
+++ b/Code/OysterPhysics3D/OysterPhysics3D.vcxproj.filters
@@ -78,6 +78,9 @@
     <ClInclude Include="RigidBody_Inline.h">
       <Filter>Header Files\Physics</Filter>
     </ClInclude>
+    <ClInclude Include="Inertia.h">
+      <Filter>Header Files\Physics</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <ClCompile Include="Box.cpp">
@@ -125,5 +128,8 @@
     <ClCompile Include="Particle.cpp">
       <Filter>Source Files\Physics</Filter>
     </ClCompile>
+    <ClCompile Include="Inertia.cpp">
+      <Filter>Source Files\Physics</Filter>
+    </ClCompile>
   </ItemGroup>
 </Project>
\ No newline at end of file
diff --git a/Code/OysterPhysics3D/RigidBody.cpp b/Code/OysterPhysics3D/RigidBody.cpp
index 80c800a6..d4da0d00 100644
--- a/Code/OysterPhysics3D/RigidBody.cpp
+++ b/Code/OysterPhysics3D/RigidBody.cpp
@@ -23,7 +23,7 @@ RigidBody::RigidBody( )
 	this->frictionCoeff_Static = 0.5f;
 	this->frictionCoeff_Kinetic = 1.0f;
 	this->mass = 10;
-	this->momentOfInertiaTensor = Float4x4::identity;
+	this->momentOfInertiaTensor = MomentOfInertia();
 	this->rotation = Quaternion::identity;
 }
 
@@ -51,17 +51,18 @@ void RigidBody::Update_LeapFrog( Float updateFrameLength )
 	// updating the linear
 	// ds = dt * Formula::LinearVelocity( m, avg_G ) = dt * avg_G / m = (dt / m) * avg_G
 	this->centerPos += ( updateFrameLength / this->mass ) * AverageWithDelta( this->momentum_Linear, this->impulse_Linear );
-
+	
 	// updating the angular
-	Float4x4 rotationMatrix; ::Oyster::Math3D::RotationMatrix( this->rotation, rotationMatrix );
+	//Float4x4 rotationMatrix; ::Oyster::Math3D::RotationMatrix( this->rotation, rotationMatrix );
 	// Important! The member data is all world data except the Inertia tensor. Thus a new InertiaTensor needs to be created to be compatible with the rest of the world data.
-	Float4x4 wMomentOfInertiaTensor = TransformMatrix( rotationMatrix, this->momentOfInertiaTensor ); // RI
+	//Float4x4 wMomentOfInertiaTensor = TransformMatrix( rotationMatrix, this->momentOfInertiaTensor ); // RI
 
 	// dO = dt * Formula::AngularVelocity( (RI)^-1, avg_H ) = dt * (RI)^-1 * avg_H
 	
 	//! HACK: @todo Rotation temporary disabled
 	//this->axis += Radian( Formula::AngularVelocity(wMomentOfInertiaTensor.GetInverse(), AverageWithDelta(this->momentum_Angular, this->impulse_Angular)) );
-	//this->rotation = Rotation( this->axis );
+	this->axis += this->momentOfInertiaTensor.CalculateAngularVelocity( this->rotation, AverageWithDelta(this->momentum_Angular, this->impulse_Angular) );
+	this->rotation = Rotation( this->axis );
 
 	// update momentums and clear impulse_Linear and impulse_Angular
 	this->momentum_Linear += this->impulse_Linear;
@@ -78,11 +79,12 @@ void RigidBody::Predict_LeapFrog( Float4 &outDeltaPos, Float4 &outDeltaAxis, con
 	outDeltaPos = ( deltaTime / this->mass ) * AverageWithDelta( this->momentum_Linear, actingLinearImpulse );
 
 	// updating the angular
-	Float4x4 rotationMatrix; ::Oyster::Math3D::RotationMatrix( this->rotation, rotationMatrix );
-	Float4x4 wMomentOfInertiaTensor = TransformMatrix( rotationMatrix, this->momentOfInertiaTensor ); // RI
+	//Float4x4 rotationMatrix; ::Oyster::Math3D::RotationMatrix( this->rotation, rotationMatrix );
+	//Float4x4 wMomentOfInertiaTensor = TransformMatrix( rotationMatrix, this->momentOfInertiaTensor ); // RI
 
 	// dO = dt * Formula::AngularVelocity( (RI)^-1, avg_H ) = dt * (RI)^-1 * avg_H
-	outDeltaAxis = Formula::AngularVelocity( wMomentOfInertiaTensor.GetInverse(), AverageWithDelta(this->momentum_Angular, actingAngularImpulse) );
+	//outDeltaAxis = Formula::AngularVelocity( wMomentOfInertiaTensor.GetInverse(), AverageWithDelta(this->momentum_Angular, actingAngularImpulse) );
+	outDeltaAxis = this->momentOfInertiaTensor.CalculateAngularVelocity( this->rotation, AverageWithDelta(this->momentum_Angular, this->impulse_Angular) );
 }
 
 void RigidBody::Move( const Float4 &deltaPos, const Float4 &deltaAxis )
@@ -106,7 +108,7 @@ void RigidBody::ApplyImpulse( const Float4 &worldJ, const Float4 &atWorldPos )
 	}
 }
 
-const Float4x4 & RigidBody::GetMomentOfInertia() const
+const MomentOfInertia & RigidBody::GetMomentOfInertia() const
 { // by Dan Andersson
 	return this->momentOfInertiaTensor;
 }
@@ -143,7 +145,7 @@ Float4 RigidBody::GetVelocity_Linear() const
 
 Float4 RigidBody::GetVelocity_Angular() const
 { // by Dan Andersson
-	return Formula::AngularVelocity( this->momentOfInertiaTensor.GetInverse(), this->momentum_Angular );
+	return this->momentOfInertiaTensor.CalculateAngularVelocity( this->rotation, this->momentum_Angular );
 }
 
 Float4 RigidBody::GetLinearMomentum( const Float4 &atWorldPos ) const
@@ -151,24 +153,16 @@ Float4 RigidBody::GetLinearMomentum( const Float4 &atWorldPos ) const
 	return this->momentum_Linear + Formula::TangentialLinearMomentum( this->momentum_Angular, atWorldPos - this->centerPos );
 }
 
-void RigidBody::SetMomentOfInertia_KeepVelocity( const Float4x4 &localTensorI )
+void RigidBody::SetMomentOfInertia_KeepVelocity( const MomentOfInertia &localTensorI )
 { // by Dan Andersson
-	if( localTensorI.GetDeterminant() != 0.0f )
-	{ // insanity check! MomentOfInertiaTensor must be invertable
-		Float4x4 rotationMatrix; RotationMatrix( this->rotation, rotationMatrix );
-
-		Float4 w = Formula::AngularVelocity( (rotationMatrix * this->momentOfInertiaTensor).GetInverse(), this->momentum_Angular );
-		this->momentOfInertiaTensor = localTensorI;
-		this->momentum_Angular = Formula::AngularMomentum( rotationMatrix * localTensorI, w );
-	}
+	Float4 w = this->momentOfInertiaTensor.CalculateAngularVelocity( this->rotation, this->momentum_Angular );
+	this->momentOfInertiaTensor = localTensorI;
+	this->momentum_Angular = this->momentOfInertiaTensor.CalculateAngularVelocity( this->rotation, w );
 }
 
-void RigidBody::SetMomentOfInertia_KeepMomentum( const Float4x4 &localTensorI )
+void RigidBody::SetMomentOfInertia_KeepMomentum( const MomentOfInertia &localTensorI )
 { // by Dan Andersson
-	if( localTensorI.GetDeterminant() != 0.0f )
-	{ // insanity check! MomentOfInertiaTensor must be invertable
-		this->momentOfInertiaTensor = localTensorI;
-	}
+	this->momentOfInertiaTensor = localTensorI;
 }
 
 void RigidBody::SetMass_KeepVelocity( const Float &m )
@@ -217,13 +211,13 @@ void RigidBody::SetVelocity_Linear( const Float4 &worldV )
 void RigidBody::SetVelocity_Linear( const Float4 &worldV, const Float4 &atWorldPos )
 { // by Dan Andersson
 	Float4 worldOffset = atWorldPos - this->centerPos;
-	this->momentum_Linear = Formula::LinearMomentum( this->mass, VectorProjection(worldV, worldOffset) );
-	this->momentum_Angular = Formula::AngularMomentum( RotationMatrix(this->rotation) * this->momentOfInertiaTensor, Formula::AngularVelocity(worldV, worldOffset) );
+	this->momentum_Linear  = Formula::LinearMomentum( this->mass, VectorProjection(worldV, worldOffset) );
+	this->momentum_Angular = this->momentOfInertiaTensor.CalculateAngularMomentum( this->rotation, Formula::AngularVelocity(worldV, worldOffset) );
 }
 
 void RigidBody::SetVelocity_Angular( const Float4 &worldW )
 { // by Dan Andersson
-	this->momentum_Angular = Formula::AngularMomentum( this->momentOfInertiaTensor, worldW );
+	this->momentum_Angular = this->momentOfInertiaTensor.CalculateAngularMomentum( this->rotation, worldW );
 }
 
 void RigidBody::SetImpulse_Linear( const Float4 &worldJ, const Float4 &atWorldPos )
diff --git a/Code/OysterPhysics3D/RigidBody.h b/Code/OysterPhysics3D/RigidBody.h
index 51c5d2d8..ad619180 100644
--- a/Code/OysterPhysics3D/RigidBody.h
+++ b/Code/OysterPhysics3D/RigidBody.h
@@ -8,6 +8,7 @@
 #include "OysterMath.h"
 #include "OysterCollision3D.h"
 #include "OysterPhysics3D.h"
+#include "Inertia.h"
 
 namespace Oyster { namespace Physics3D
 {
@@ -42,23 +43,23 @@ namespace Oyster { namespace Physics3D
 
 		// GET METHODS ////////////////////////////////
 
-		const ::Oyster::Math::Float4x4 &   GetMomentOfInertia() const;
-			  ::Oyster::Math::Float		   GetMass() const;
-		const ::Oyster::Math::Quaternion & GetRotation() const;
-			  ::Oyster::Math::Float4x4	   GetRotationMatrix() const;
-			  ::Oyster::Math::Float4x4	   GetOrientation() const;
-			  ::Oyster::Math::Float4x4	   GetView() const;
- 			  ::Oyster::Math::Float4x4	   GetToWorldMatrix() const;
-			  ::Oyster::Math::Float4x4	   GetToLocalMatrix() const;
-			  ::Oyster::Math::Float4	   GetSize() const;
-			  ::Oyster::Math::Float4	   GetVelocity_Linear() const;
-			  ::Oyster::Math::Float4	   GetVelocity_Angular() const;
-			  ::Oyster::Math::Float4	   GetLinearMomentum( const ::Oyster::Math::Float4 &atWorldPos ) const;
+		const ::Oyster::Physics3D::MomentOfInertia & GetMomentOfInertia() const;
+			  ::Oyster::Math::Float					 GetMass() const;
+		const ::Oyster::Math::Quaternion &			 GetRotation() const;
+			  ::Oyster::Math::Float4x4				 GetRotationMatrix() const;
+			  ::Oyster::Math::Float4x4				 GetOrientation() const;
+			  ::Oyster::Math::Float4x4				 GetView() const;
+ 			  ::Oyster::Math::Float4x4				 GetToWorldMatrix() const;
+			  ::Oyster::Math::Float4x4				 GetToLocalMatrix() const;
+			  ::Oyster::Math::Float4				 GetSize() const;
+			  ::Oyster::Math::Float4				 GetVelocity_Linear() const;
+			  ::Oyster::Math::Float4				 GetVelocity_Angular() const;
+			  ::Oyster::Math::Float4				 GetLinearMomentum( const ::Oyster::Math::Float4 &atWorldPos ) const;
 
 		// SET METHODS ////////////////////////////////
 
-		void SetMomentOfInertia_KeepVelocity( const ::Oyster::Math::Float4x4 &localTensorI );
-		void SetMomentOfInertia_KeepMomentum( const ::Oyster::Math::Float4x4 &localTensorI );
+		void SetMomentOfInertia_KeepVelocity( const ::Oyster::Physics3D::MomentOfInertia &localTensorI );
+		void SetMomentOfInertia_KeepMomentum( const ::Oyster::Physics3D::MomentOfInertia &localTensorI );
 		void SetMass_KeepVelocity( const ::Oyster::Math::Float &m );
 		void SetMass_KeepMomentum( const ::Oyster::Math::Float &m );
 
@@ -78,7 +79,8 @@ namespace Oyster { namespace Physics3D
 
 	private:
 		::Oyster::Math::Float mass;						//!< m (kg)
-		::Oyster::Math::Float4x4 momentOfInertiaTensor;	//!< I (Nm*s) Tensor matrix ( only need to be 3x3 matrix, but is 4x4 for future hardware acceleration )	(localValue)
+		//::Oyster::Math::Float4x4 momentOfInertiaTensor;	//!< I (Nm*s) Tensor matrix ( only need to be 3x3 matrix, but is 4x4 for future hardware acceleration )	(localValue)
+		::Oyster::Physics3D::MomentOfInertia momentOfInertiaTensor;
 		::Oyster::Math::Quaternion rotation;			//!< RotationAxis of the body.
 	};
 } }