--- trunk/src/primitives/RigidBody.cpp	2005/09/28 16:32:44	636
+++ trunk/src/primitives/RigidBody.cpp	2005/10/05 19:12:02	646
@@ -164,27 +164,27 @@ namespace oopse {
     }
 
     // Moment of Inertia calculation
-    Mat3x3d Itmp(0.0);
-  
+    Mat3x3d Itmp(0.0);    
     for (std::size_t i = 0; i < atoms_.size(); i++) {
+      Mat3x3d IAtom(0.0);  
       mtmp = atoms_[i]->getMass();
-      Itmp -= outProduct(refCoords_[i], refCoords_[i]) * mtmp;
+      IAtom -= outProduct(refCoords_[i], refCoords_[i]) * mtmp;
       double r2 = refCoords_[i].lengthSquare();
-      Itmp(0, 0) += mtmp * r2;
-      Itmp(1, 1) += mtmp * r2;
-      Itmp(2, 2) += mtmp * r2;
-    }
-
-    //project the inertial moment of directional atoms into this rigid body
-    for (std::size_t i = 0; i < atoms_.size(); i++) {
+      IAtom(0, 0) += mtmp * r2;
+      IAtom(1, 1) += mtmp * r2;
+      IAtom(2, 2) += mtmp * r2;
+
+      //project the inertial moment of directional atoms into this rigid body
       if (atoms_[i]->isDirectional()) {
-	RectMatrix<double, 3, 3> Iproject = refOrients_[i].transpose() * atoms_[i]->getI();
-	Itmp(0, 0) += Iproject(0, 0);
-	Itmp(1, 1) += Iproject(1, 1);
-	Itmp(2, 2) += Iproject(2, 2);
+        //IAtom += atoms_[i]->getI();
+        Itmp += IAtom;
+        Itmp += refOrients_[i].transpose() * atoms_[i]->getI() * refOrients_[i];
+      } else {
+        Itmp += IAtom;
       }
     }
 
+    std::cout << Itmp <<std::endl;
     //diagonalize 
     Vector3d evals;
     Mat3x3d::diagonalize(Itmp, evals, sU_);