From 8c310d25ab2ce359b2e5383fbac937ac58f7feff Mon Sep 17 00:00:00 2001
From: Phillip <pacardon@u.washington.edu>
Date: Fri, 18 Feb 2011 04:02:23 +0000
Subject: re-added inertial tensors.

---
 src/tesseract/objects/Toroid.java | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/src/tesseract/objects/Toroid.java b/src/tesseract/objects/Toroid.java
index 3150efb..7f88fcb 100644
--- a/src/tesseract/objects/Toroid.java
+++ b/src/tesseract/objects/Toroid.java
@@ -39,6 +39,14 @@ public class Toroid extends PhysicalObject {
 		
 		setShape(buildToroid(scale, sliceRadius, sliceDivisions,
 				arcRadius, arcDivisions));
+		if (inverseMass != 0) {
+			float a = sliceRadius * sliceRadius;
+			float c = arcRadius * arcRadius;
+			inverseInertiaTensor.m00 = 5f * a / 8f + c / 2f;
+			inverseInertiaTensor.m11 = 5f * a / 8f + c / 2f;;
+			inverseInertiaTensor.m22 = 3f * a / 4 + c;
+			inverseInertiaTensor.invert();
+		}
 	}
 	
 	
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