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