diff --git a/Code/OysterPhysics3D/OysterPhysics3D.h b/Code/OysterPhysics3D/OysterPhysics3D.h
index 2eb9db9a..ca9948a8 100644
--- a/Code/OysterPhysics3D/OysterPhysics3D.h
+++ b/Code/OysterPhysics3D/OysterPhysics3D.h
@@ -63,7 +63,7 @@ namespace Oyster { namespace Physics3D
 		 ******************************************************************/
 		inline ::Oyster::Math::Float3 AngularMomentum( const ::Oyster::Math::Float3 linearMomentum, const ::Oyster::Math::Float3 &worldOffset )
 		{
-			return offset.Cross( linearMomentum );
+			return worldOffset.Cross( linearMomentum );
 		}
 
 		/******************************************************************
@@ -144,7 +144,7 @@ namespace Oyster { namespace Physics3D
 		 ******************************************************************/
 		inline ::Oyster::Math::Float3 TangentialLinearVelocity( const ::Oyster::Math::Float3 &angularVelocity, const ::Oyster::Math::Float3 &worldOffset )
 		{
-			return angularVelocity.Cross( offset );
+			return angularVelocity.Cross( worldOffset );
 		}
 
 		/******************************************************************
@@ -153,7 +153,7 @@ namespace Oyster { namespace Physics3D
 		 ******************************************************************/
 		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 );
+			return TangentialLinearVelocity( AngularVelocity(momentOfInertiaInversed, angularMomentum), worldOffset );
 		}
 
 		/******************************************************************
@@ -180,7 +180,7 @@ namespace Oyster { namespace Physics3D
 		 ******************************************************************/
 		inline ::Oyster::Math::Float3 ImpulseTorque( const ::Oyster::Math::Float3 & impulseForce, const ::Oyster::Math::Float3 &worldOffset )
 		{
-			return offset.Cross( impulseForce );
+			return worldOffset.Cross( impulseForce );
 		}
 
 		/******************************************************************
diff --git a/Code/OysterPhysics3D/RigidBody.cpp b/Code/OysterPhysics3D/RigidBody.cpp
index c65b040f..fb663cf4 100644
--- a/Code/OysterPhysics3D/RigidBody.cpp
+++ b/Code/OysterPhysics3D/RigidBody.cpp
@@ -273,7 +273,7 @@ void RigidBody::SetSize( const Float3 &widthHeight )
 
 void RigidBody::SetCenter( const Float3 &worldPos )
 { // by Dan Andersson
-	this->box.center = p;
+	this->box.center = worldPos;
 }
 
 void RigidBody::SetImpulseTorque( const Float3 &worldT )