diff --git a/Code/OysterPhysics3D/OysterPhysics3D.h b/Code/OysterPhysics3D/OysterPhysics3D.h
index 592361ef..3666b917 100644
--- a/Code/OysterPhysics3D/OysterPhysics3D.h
+++ b/Code/OysterPhysics3D/OysterPhysics3D.h
@@ -49,7 +49,7 @@ namespace Oyster { namespace Physics3D
 		}
 
 		/******************************************************************
-		 * Returns the local angular momentum of a mass in rotation.
+		 * Returns the world angular momentum of a mass in rotation.
 		 * @todo TODO: improve doc
 		 ******************************************************************/
 		inline ::Oyster::Math::Float3 AngularMomentum( const ::Oyster::Math::Float4x4 &momentOfInertia, const ::Oyster::Math::Float3 &angularVelocity )
@@ -58,39 +58,39 @@ namespace Oyster { namespace Physics3D
 		}
 
 		/******************************************************************
-		 * Returns the local angular momentum of a mass in rotation.
+		 * Returns the world angular momentum of a mass in rotation.
 		 * @todo TODO: improve doc
 		 ******************************************************************/
-		inline ::Oyster::Math::Float3 AngularMomentum( const ::Oyster::Math::Float3 linearMomentum, const ::Oyster::Math::Float3 &offset )
+		inline ::Oyster::Math::Float3 AngularMomentum( const ::Oyster::Math::Float3 linearMomentum, const ::Oyster::Math::Float3 &worldOffset )
 		{
 			return offset.Cross( linearMomentum );
 		}
 
 		/******************************************************************
-		 * Returns the local tangential momentum at localPos, of a mass in rotation.
+		 * Returns the world tangential momentum at worldPos, of a mass in rotation.
 		 * @todo TODO: improve doc
 		 ******************************************************************/
-		inline ::Oyster::Math::Float3 TangentialLinearMomentum( const ::Oyster::Math::Float3 &angularMomentum, const ::Oyster::Math::Float3 &localOffset )
+		inline ::Oyster::Math::Float3 TangentialLinearMomentum( const ::Oyster::Math::Float3 &angularMomentum, const ::Oyster::Math::Float3 &worldOffset )
 		{
-			return angularMomentum.Cross( localOffset );
+			return angularMomentum.Cross( worldOffset );
 		}
 
 		/******************************************************************
-		 * Returns the local tangential momentum at localPos, of a mass in rotation.
+		 * Returns the world tangential momentum at worldPos, of a mass in rotation.
 		 * @todo TODO: improve doc
 		 ******************************************************************/
-		inline ::Oyster::Math::Float3 TangentialLinearMomentum( const ::Oyster::Math::Float4x4 &momentOfInertia, const ::Oyster::Math::Float3 &angularVelocity, const ::Oyster::Math::Float3 &localOffset )
+		inline ::Oyster::Math::Float3 TangentialLinearMomentum( const ::Oyster::Math::Float4x4 &momentOfInertia, const ::Oyster::Math::Float3 &angularVelocity, const ::Oyster::Math::Float3 &worldOffset )
 		{
-			return TangentialLinearMomentum( AngularMomentum(momentOfInertia, angularVelocity), localOffset );
+			return TangentialLinearMomentum( AngularMomentum(momentOfInertia, angularVelocity), worldOffset );
 		}
 
 		/******************************************************************
-		 * Returns the local impulse force at localPos, of a mass in angular acceleration.
+		 * Returns the world impulse force at worldPos, of a mass in angular acceleration.
 		 * @todo TODO: improve doc
 		 ******************************************************************/
-		inline ::Oyster::Math::Float3 TangentialImpulseForce( const ::Oyster::Math::Float3 &impulseTorque, const ::Oyster::Math::Float3 &localOffset )
+		inline ::Oyster::Math::Float3 TangentialImpulseForce( const ::Oyster::Math::Float3 &impulseTorque, const ::Oyster::Math::Float3 &worldOffset )
 		{
-			return impulseTorque.Cross( localOffset );
+			return impulseTorque.Cross( worldOffset );
 		}
 
 		/******************************************************************
@@ -106,7 +106,7 @@ namespace Oyster { namespace Physics3D
 		 * 
 		 * @todo TODO: improve doc
 		 ******************************************************************/
-		inline ::Oyster::Math::Float3 AngularImpulseAcceleration( const ::Oyster::Math::Float3 &linearImpulseAcceleration, const ::Oyster::Math::Float3 &offset )
+		inline ::Oyster::Math::Float3 AngularImpulseAcceleration( const ::Oyster::Math::Float3 &linearImpulseAcceleration, const ::Oyster::Math::Float3 &worldOffset )
 		{
 			return offset.Cross( linearImpulseAcceleration );
 		}
@@ -121,7 +121,7 @@ namespace Oyster { namespace Physics3D
 		}
 
 		/******************************************************************
-		 * Returns the local angular velocity of a mass in rotation.
+		 * Returns the world angular velocity of a mass in rotation.
 		 * @todo TODO: improve doc
 		 ******************************************************************/
 		inline ::Oyster::Math::Float3 AngularVelocity( const ::Oyster::Math::Float4x4 &momentOfInertiaInversed, const ::Oyster::Math::Float3 &angularMomentum )
@@ -130,19 +130,19 @@ namespace Oyster { namespace Physics3D
 		}
 
 		/******************************************************************
-		 * Returns the local tangential velocity at localPos, of a mass in rotation.
+		 * Returns the world tangential velocity at worldPos, of a mass in rotation.
 		 * @todo TODO: improve doc
 		 ******************************************************************/
-		inline ::Oyster::Math::Float3 TangentialLinearVelocity( const ::Oyster::Math::Float3 &angularVelocity, const ::Oyster::Math::Float3 &offset )
+		inline ::Oyster::Math::Float3 TangentialLinearVelocity( const ::Oyster::Math::Float3 &angularVelocity, const ::Oyster::Math::Float3 &worldOffset )
 		{
 			return angularVelocity.Cross( offset );
 		}
 
 		/******************************************************************
-		 * Returns the local tangential velocity at localPos, of a mass in rotation.
+		 * Returns the world tangential velocity at worldPos, of a mass in rotation.
 		 * @todo TODO: improve doc
 		 ******************************************************************/
-		inline ::Oyster::Math::Float3 TangentialLinearVelocity( const ::Oyster::Math::Float4x4 &momentOfInertiaInversed, const ::Oyster::Math::Float3 &angularMomentum, const ::Oyster::Math::Float3 &offset )
+		inline ::Oyster::Math::Float3 TangentialLinearVelocity( const ::Oyster::Math::Float4x4 &momentOfInertiaInversed, const ::Oyster::Math::Float3 &angularMomentum, const ::Oyster::Math::Float3 &worldOffset )
 		{
 			return TangentialLinearVelocity( AngularVelocity(momentOfInertiaInversed, angularMomentum), offset );
 		}
@@ -169,7 +169,7 @@ namespace Oyster { namespace Physics3D
 		 * 
 		 * @todo TODO: improve doc
 		 ******************************************************************/
-		inline ::Oyster::Math::Float3 ImpulseTorque( const ::Oyster::Math::Float3 & impulseForce, const ::Oyster::Math::Float3 &offset )
+		inline ::Oyster::Math::Float3 ImpulseTorque( const ::Oyster::Math::Float3 & impulseForce, const ::Oyster::Math::Float3 &worldOffset )
 		{
 			return offset.Cross( impulseForce );
 		}
diff --git a/Code/OysterPhysics3D/RigidBody.cpp b/Code/OysterPhysics3D/RigidBody.cpp
index 5f36ce15..6ed9da25 100644
--- a/Code/OysterPhysics3D/RigidBody.cpp
+++ b/Code/OysterPhysics3D/RigidBody.cpp
@@ -131,16 +131,6 @@ void RigidBody::ApplyAngularImpulseAcceleration( const Float3 &worldA )
 	this->impulseTorqueSum += Formula::ImpulseTorque( this->momentOfInertiaTensor, worldA );
 }
 
-Float4x4 & RigidBody::AccessOrientation()
-{ // by Dan Andersson
-	return this->box.orientation;
-}
-
-const Float4x4 & RigidBody::AccessOrientation() const
-{ // by Dan Andersson
-	return this->box.orientation;
-}
-
 Float3 & RigidBody::AccessBoundingReach()
 { // by Dan Andersson
 	return this->box.boundingOffset;
@@ -171,14 +161,14 @@ const Float & RigidBody::GetMass() const
 	return this->mass;
 }
 
-const Float4x4 & RigidBody::GetOrientation() const
+const Float4x4 RigidBody::GetOrientation() const
 { // by Dan Andersson
-	return this->box.orientation;
+	return OrientationMatrix( this->box.rotation, this->box.center );
 }
 
 Float4x4 RigidBody::GetView() const
 { // by Dan Andersson
-	return InverseOrientationMatrix( this->box.orientation );
+	return InverseOrientationMatrix( this->GetOrientation() );
 }
 
 const Float3 & RigidBody::GetBoundingReach() const
@@ -249,18 +239,23 @@ Float3 RigidBody::GetTangentialLinearMomentumAt( const Float3 &worldPos ) const
 
 Float3 RigidBody::GetTangentialImpulseAccelerationAt( const Float3 &worldPos ) const
 { // by Dan Andersson
-	return this->GetTangentialImpulseAccelerationAt_Local( (this->GetView() * Float4(worldPos, 1.0f)).xyz ); // should not be any disform thus result.w = 1.0f
+	Float4x4 invWorldMomentOfInertia = TransformMatrix( this->box.rotation, this->momentOfInertiaTensor ).GetInverse();
+	Float3 worldOffset = worldPos - this->box.center;
+
+	return Formula::TangentialImpulseAcceleration( invWorldMomentOfInertia, this->impulseTorqueSum, worldOffset );
 }
 
 Float3 RigidBody::GetTangentialLinearVelocityAt( const Float3 &worldPos ) const
 { // by Dan Andersson
-	return this->GetTangentialLinearVelocityAt_Local( (this->GetView() * Float4(worldPos, 1.0f)).xyz ); // should not be any disform thus result.w = 1.0f
+	Float4x4 invWorldMomentOfInertia = TransformMatrix( this->box.rotation, this->momentOfInertiaTensor ).GetInverse();
+	Float3 worldOffset = worldPos - this->box.center;
+
+	return Formula::TangentialLinearVelocity( invWorldMomentOfInertia, this->angularMomentum, worldOffset );
 }
 
 Float3 RigidBody::GetImpulseForceAt( const Float3 &worldPos ) const
 { // by Dan Andersson
-	Float4 localForce = Float4( this->GetImpulseForceAt_Local((this->GetView() * Float4(worldPos, 1.0f)).xyz), 0.0f ); // should not be any disform thus result.w = 1.0f
-	return (this->box.orientation * localForce).xyz; // should not be any disform thus result.w = 0.0f
+	return Float3::null; //! @todo TODO: surface normal needed as well. Same goes for those below.
 }
 
 Float3 RigidBody::GetLinearMomentumAt( const Float3 &worldPos ) const