diff --git a/build/matter.js b/build/matter.js
index 3490db52..f5fd554a 100644
--- a/build/matter.js
+++ b/build/matter.js
@@ -612,7 +612,7 @@ var Axes = require('../geometry/Axes');
         body.force.x += force.x;
         body.force.y += force.y;
         var offset = { x: position.x - body.position.x, y: position.y - body.position.y };
-        body.torque += (offset.x * force.y - offset.y * force.x) * body.inverseInertia;
+        body.torque += offset.x * force.y - offset.y * force.x;
     };
 
     /**
diff --git a/build/matter.min.js b/build/matter.min.js
index 21424e3f..46f7dffd 100644
--- a/build/matter.min.js
+++ b/build/matter.min.js
@@ -9,8 +9,8 @@ l.update(e.bounds,e.vertices,e.velocity),n.set(e,{axes:t.axes||e.axes,area:t.are
 break;case"parts":n.setParts(e,o);break;default:e[i]=o}},n.setStatic=function(e,t){for(var o=0;o<e.parts.length;o++){var n=e.parts[o];n.isStatic=t,t&&(n.restitution=0,n.friction=1,n.mass=n.inertia=n.density=1/0,n.inverseMass=n.inverseInertia=0,n.positionPrev.x=n.position.x,n.positionPrev.y=n.position.y,n.anglePrev=n.angle,n.angularVelocity=0,n.speed=0,n.angularSpeed=0,n.motion=0)}},n.setMass=function(e,t){e.mass=t,e.inverseMass=1/e.mass,e.density=e.mass/e.area},n.setDensity=function(e,t){n.setMass(e,t*e.area),e.density=t},n.setInertia=function(e,t){e.inertia=t,e.inverseInertia=1/e.inertia},n.setVertices=function(e,t){t[0].body===e?e.vertices=t:e.vertices=i.create(t,e),e.axes=c.fromVertices(e.vertices),e.area=i.area(e.vertices),n.setMass(e,e.density*e.area);var o=i.centre(e.vertices);i.translate(e.vertices,o,-1),n.setInertia(e,n._inertiaScale*i.inertia(e.vertices,e.mass)),i.translate(e.vertices,e.position),l.update(e.bounds,e.vertices,e.velocity)},n.setParts=function(e,t,o){var r;for(t=t.slice(0),
 e.parts.length=0,e.parts.push(e),e.parent=e,r=0;r<t.length;r++){var s=t[r];s!==e&&(s.parent=e,e.parts.push(s))}if(1!==e.parts.length){if(o="undefined"!=typeof o?o:!0){var a=[];for(r=0;r<t.length;r++)a=a.concat(t[r].vertices);i.clockwiseSort(a);var l=i.hull(a),c=i.centre(l);n.setVertices(e,l),i.translate(e.vertices,c)}var d=u(e);e.area=d.area,e.parent=e,e.position.x=d.centre.x,e.position.y=d.centre.y,e.positionPrev.x=d.centre.x,e.positionPrev.y=d.centre.y,n.setMass(e,d.mass),n.setInertia(e,d.inertia),n.setPosition(e,d.centre)}},n.setPosition=function(e,t){var o=r.sub(t,e.position);e.positionPrev.x+=o.x,e.positionPrev.y+=o.y;for(var n=0;n<e.parts.length;n++){var s=e.parts[n];s.position.x+=o.x,s.position.y+=o.y,i.translate(s.vertices,o),l.update(s.bounds,s.vertices,e.velocity)}},n.setAngle=function(e,t){var o=t-e.angle;e.anglePrev+=o;for(var n=0;n<e.parts.length;n++){var s=e.parts[n];s.angle+=o,i.rotate(s.vertices,o,e.position),c.rotate(s.axes,o),l.update(s.bounds,s.vertices,e.velocity),n>0&&r.rotateAbout(s.position,o,e.position,s.position);
 }},n.setVelocity=function(e,t){e.positionPrev.x=e.position.x-t.x,e.positionPrev.y=e.position.y-t.y,e.velocity.x=t.x,e.velocity.y=t.y,e.speed=r.magnitude(e.velocity)},n.setAngularVelocity=function(e,t){e.anglePrev=e.angle-t,e.angularVelocity=t,e.angularSpeed=Math.abs(e.angularVelocity)},n.translate=function(e,t){n.setPosition(e,r.add(e.position,t))},n.rotate=function(e,t){n.setAngle(e,e.angle+t)},n.scale=function(e,t,o,r){for(var s=0;s<e.parts.length;s++){var a=e.parts[s];i.scale(a.vertices,t,o,e.position),a.axes=c.fromVertices(a.vertices),e.isStatic||(a.area=i.area(a.vertices),n.setMass(a,e.density*a.area),i.translate(a.vertices,{x:-a.position.x,y:-a.position.y}),n.setInertia(a,i.inertia(a.vertices,a.mass)),i.translate(a.vertices,{x:a.position.x,y:a.position.y})),l.update(a.bounds,a.vertices,e.velocity)}if(!e.isStatic){var d=u(e);e.area=d.area,n.setMass(e,d.mass),n.setInertia(e,d.inertia)}},n.update=function(e,t,o,n){var s=Math.pow(t*o*e.timeScale,2),a=1-e.frictionAir*o*e.timeScale,d=e.position.x-e.positionPrev.x,u=e.position.y-e.positionPrev.y;
-e.velocity.x=d*a*n+e.force.x/e.mass*s,e.velocity.y=u*a*n+e.force.y/e.mass*s,e.positionPrev.x=e.position.x,e.positionPrev.y=e.position.y,e.position.x+=e.velocity.x,e.position.y+=e.velocity.y,e.angularVelocity=(e.angle-e.anglePrev)*a*n+e.torque/e.inertia*s,e.anglePrev=e.angle,e.angle+=e.angularVelocity,e.speed=r.magnitude(e.velocity),e.angularSpeed=Math.abs(e.angularVelocity);for(var p=0;p<e.parts.length;p++){var f=e.parts[p];i.translate(f.vertices,e.velocity),p>0&&(f.position.x+=e.velocity.x,f.position.y+=e.velocity.y),0!==e.angularVelocity&&(i.rotate(f.vertices,e.angularVelocity,e.position),c.rotate(f.axes,e.angularVelocity),p>0&&r.rotateAbout(f.position,e.angularVelocity,e.position,f.position)),l.update(f.bounds,f.vertices,e.velocity)}},n.applyForce=function(e,t,o){e.force.x+=o.x,e.force.y+=o.y;var n={x:t.x-e.position.x,y:t.y-e.position.y};e.torque+=(n.x*o.y-n.y*o.x)*e.inverseInertia};var u=function(e){for(var t={mass:0,area:0,inertia:0,centre:{x:0,y:0}},o=1===e.parts.length?0:1;o<e.parts.length;o++){
-var n=e.parts[o];t.mass+=n.mass,t.area+=n.area,t.inertia+=n.inertia,t.centre=r.add(t.centre,r.mult(n.position,n.mass!==1/0?n.mass:1))}return t.centre=r.div(t.centre,t.mass!==1/0?t.mass:e.parts.length),t}}()},{"../core/Common":14,"../core/Sleeping":20,"../geometry/Axes":23,"../geometry/Bounds":24,"../geometry/Vector":26,"../geometry/Vertices":27,"../render/Render":29}],2:[function(e,t,o){var n={};t.exports=n;var i=e("../core/Events"),r=e("../core/Common"),s=e("./Body");!function(){n.create=function(e){return r.extend({id:r.nextId(),type:"composite",parent:null,isModified:!1,bodies:[],constraints:[],composites:[],label:"Composite"},e)},n.setModified=function(e,t,o,i){if(e.isModified=t,o&&e.parent&&n.setModified(e.parent,t,o,i),i)for(var r=0;r<e.composites.length;r++){var s=e.composites[r];n.setModified(s,t,o,i)}},n.add=function(e,t){var o=[].concat(t);i.trigger(e,"beforeAdd",{object:t});for(var s=0;s<o.length;s++){var a=o[s];switch(a.type){case"body":if(a.parent!==a){r.log("Composite.add: skipped adding a compound body part (you must add its parent instead)","warn");
+e.velocity.x=d*a*n+e.force.x/e.mass*s,e.velocity.y=u*a*n+e.force.y/e.mass*s,e.positionPrev.x=e.position.x,e.positionPrev.y=e.position.y,e.position.x+=e.velocity.x,e.position.y+=e.velocity.y,e.angularVelocity=(e.angle-e.anglePrev)*a*n+e.torque/e.inertia*s,e.anglePrev=e.angle,e.angle+=e.angularVelocity,e.speed=r.magnitude(e.velocity),e.angularSpeed=Math.abs(e.angularVelocity);for(var p=0;p<e.parts.length;p++){var f=e.parts[p];i.translate(f.vertices,e.velocity),p>0&&(f.position.x+=e.velocity.x,f.position.y+=e.velocity.y),0!==e.angularVelocity&&(i.rotate(f.vertices,e.angularVelocity,e.position),c.rotate(f.axes,e.angularVelocity),p>0&&r.rotateAbout(f.position,e.angularVelocity,e.position,f.position)),l.update(f.bounds,f.vertices,e.velocity)}},n.applyForce=function(e,t,o){e.force.x+=o.x,e.force.y+=o.y;var n={x:t.x-e.position.x,y:t.y-e.position.y};e.torque+=n.x*o.y-n.y*o.x};var u=function(e){for(var t={mass:0,area:0,inertia:0,centre:{x:0,y:0}},o=1===e.parts.length?0:1;o<e.parts.length;o++){var n=e.parts[o];
+t.mass+=n.mass,t.area+=n.area,t.inertia+=n.inertia,t.centre=r.add(t.centre,r.mult(n.position,n.mass!==1/0?n.mass:1))}return t.centre=r.div(t.centre,t.mass!==1/0?t.mass:e.parts.length),t}}()},{"../core/Common":14,"../core/Sleeping":20,"../geometry/Axes":23,"../geometry/Bounds":24,"../geometry/Vector":26,"../geometry/Vertices":27,"../render/Render":29}],2:[function(e,t,o){var n={};t.exports=n;var i=e("../core/Events"),r=e("../core/Common"),s=e("./Body");!function(){n.create=function(e){return r.extend({id:r.nextId(),type:"composite",parent:null,isModified:!1,bodies:[],constraints:[],composites:[],label:"Composite"},e)},n.setModified=function(e,t,o,i){if(e.isModified=t,o&&e.parent&&n.setModified(e.parent,t,o,i),i)for(var r=0;r<e.composites.length;r++){var s=e.composites[r];n.setModified(s,t,o,i)}},n.add=function(e,t){var o=[].concat(t);i.trigger(e,"beforeAdd",{object:t});for(var s=0;s<o.length;s++){var a=o[s];switch(a.type){case"body":if(a.parent!==a){r.log("Composite.add: skipped adding a compound body part (you must add its parent instead)","warn");
 break}n.addBody(e,a);break;case"constraint":n.addConstraint(e,a);break;case"composite":n.addComposite(e,a);break;case"mouseConstraint":n.addConstraint(e,a.constraint)}}return i.trigger(e,"afterAdd",{object:t}),e},n.remove=function(e,t,o){var r=[].concat(t);i.trigger(e,"beforeRemove",{object:t});for(var s=0;s<r.length;s++){var a=r[s];switch(a.type){case"body":n.removeBody(e,a,o);break;case"constraint":n.removeConstraint(e,a,o);break;case"composite":n.removeComposite(e,a,o);break;case"mouseConstraint":n.removeConstraint(e,a.constraint)}}return i.trigger(e,"afterRemove",{object:t}),e},n.addComposite=function(e,t){return e.composites.push(t),t.parent=e,n.setModified(e,!0,!0,!1),e},n.removeComposite=function(e,t,o){var i=r.indexOf(e.composites,t);if(-1!==i&&(n.removeCompositeAt(e,i),n.setModified(e,!0,!0,!1)),o)for(var s=0;s<e.composites.length;s++)n.removeComposite(e.composites[s],t,!0);return e},n.removeCompositeAt=function(e,t){return e.composites.splice(t,1),n.setModified(e,!0,!0,!1),e},
 n.addBody=function(e,t){return e.bodies.push(t),n.setModified(e,!0,!0,!1),e},n.removeBody=function(e,t,o){var i=r.indexOf(e.bodies,t);if(-1!==i&&(n.removeBodyAt(e,i),n.setModified(e,!0,!0,!1)),o)for(var s=0;s<e.composites.length;s++)n.removeBody(e.composites[s],t,!0);return e},n.removeBodyAt=function(e,t){return e.bodies.splice(t,1),n.setModified(e,!0,!0,!1),e},n.addConstraint=function(e,t){return e.constraints.push(t),n.setModified(e,!0,!0,!1),e},n.removeConstraint=function(e,t,o){var i=r.indexOf(e.constraints,t);if(-1!==i&&n.removeConstraintAt(e,i),o)for(var s=0;s<e.composites.length;s++)n.removeConstraint(e.composites[s],t,!0);return e},n.removeConstraintAt=function(e,t){return e.constraints.splice(t,1),n.setModified(e,!0,!0,!1),e},n.clear=function(e,t,o){if(o)for(var i=0;i<e.composites.length;i++)n.clear(e.composites[i],t,!0);return t?e.bodies=e.bodies.filter(function(e){return e.isStatic}):e.bodies.length=0,e.constraints.length=0,e.composites.length=0,n.setModified(e,!0,!0,!1),e},n.allBodies=function(e){
 for(var t=[].concat(e.bodies),o=0;o<e.composites.length;o++)t=t.concat(n.allBodies(e.composites[o]));return t},n.allConstraints=function(e){for(var t=[].concat(e.constraints),o=0;o<e.composites.length;o++)t=t.concat(n.allConstraints(e.composites[o]));return t},n.allComposites=function(e){for(var t=[].concat(e.composites),o=0;o<e.composites.length;o++)t=t.concat(n.allComposites(e.composites[o]));return t},n.get=function(e,t,o){var i,r;switch(o){case"body":i=n.allBodies(e);break;case"constraint":i=n.allConstraints(e);break;case"composite":i=n.allComposites(e).concat(e)}return i?(r=i.filter(function(e){return e.id.toString()===t.toString()}),0===r.length?null:r[0]):null},n.move=function(e,t,o){return n.remove(e,t),n.add(o,t),e},n.rebase=function(e){for(var t=n.allBodies(e).concat(n.allConstraints(e)).concat(n.allComposites(e)),o=0;o<t.length;o++)t[o].id=r.nextId();return n.setModified(e,!0,!0,!1),e},n.translate=function(e,t,o){for(var i=o?n.allBodies(e):e.bodies,r=0;r<i.length;r++)s.translate(i[r],t);