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+///////////////////////////////////////////////////////////////////////////////////////////////////
+// OpenGL Mathematics Copyright (c) 2005 - 2011 G-Truc Creation (www.g-truc.net)
+///////////////////////////////////////////////////////////////////////////////////////////////////
+// Created : 2006-04-21
+// Updated : 2006-12-06
+// Licence : This source is under MIT License
+// File    : glm/gtx/inertia.inl
+///////////////////////////////////////////////////////////////////////////////////////////////////
+
+namespace glm{
+namespace gtx{
+namespace inertia{
+
+    template <typename T>
+    GLM_FUNC_QUALIFIER detail::tmat3x3<T> boxInertia3(
+		const T Mass, 
+		const detail::tvec3<T>& Scale)
+    {
+	    detail::tmat3x3<T> Result(T(1));
+	    Result[0][0] = (Scale.y * Scale.y + Scale.z * Scale.z) * Mass / T(12);
+	    Result[1][1] = (Scale.x * Scale.x + Scale.z * Scale.z) * Mass / T(12);
+	    Result[2][2] = (Scale.x * Scale.x + Scale.y * Scale.y) * Mass / T(12);
+        return Result;
+    }
+
+    template <typename T>
+    GLM_FUNC_QUALIFIER detail::tmat4x4<T> boxInertia4(
+		const T Mass, 
+		const detail::tvec3<T>& Scale)
+    {
+	    detail::tmat4x4<T> Result(T(1));
+	    Result[0][0] = (Scale.y * Scale.y + Scale.z * Scale.z) * Mass / T(12);
+	    Result[1][1] = (Scale.x * Scale.x + Scale.z * Scale.z) * Mass / T(12);
+	    Result[2][2] = (Scale.x * Scale.x + Scale.y * Scale.y) * Mass / T(12);
+        return Result;
+    }
+
+    template <typename T>
+    GLM_FUNC_QUALIFIER detail::tmat3x3<T> diskInertia3(
+		const T Mass, 
+		const T Radius)
+    {
+        T a = Mass * Radius * Radius / T(2);
+        detail::tmat3x3<T> Result(a);
+        Result[2][2] *= T(2);
+        return Result;
+    }
+
+    template <typename T>
+    GLM_FUNC_QUALIFIER detail::tmat4x4<T> diskInertia4(
+		const T Mass, 
+		const T Radius)
+    {
+        T a = Mass * Radius * Radius / T(2);
+        detail::tmat4x4<T> Result(a);
+        Result[2][2] *= T(2);
+        Result[3][3] = T(1);
+        return Result;
+    }
+
+    template <typename T>
+    GLM_FUNC_QUALIFIER detail::tmat3x3<T> ballInertia3(
+		const T Mass, 
+		const T Radius)
+    {
+        T a = T(2) * Mass * Radius * Radius / T(5);
+        return detail::tmat3x3<T>(a);
+    }
+
+    template <typename T>
+    GLM_FUNC_QUALIFIER detail::tmat4x4<T> ballInertia4(
+		const T Mass, 
+		const T Radius)
+    {
+        T a = T(2) * Mass * Radius * Radius / T(5);
+        detail::tmat4x4<T> Result(a);
+        Result[3][3] = T(1);
+        return Result;
+    }
+
+    template <typename T>
+    GLM_FUNC_QUALIFIER detail::tmat3x3<T> sphereInertia3(
+		const T Mass, 
+		const T Radius)
+    {
+        T a = T(2) * Mass * Radius * Radius / T(3);
+        return detail::tmat3x3<T>(a);
+    }
+
+    template <typename T>
+    GLM_FUNC_QUALIFIER detail::tmat4x4<T> sphereInertia4(
+		const T Mass, 
+		const T Radius)
+    {
+        T a = T(2) * Mass * Radius * Radius / T(3);
+        detail::tmat4x4<T> Result(a);
+        Result[3][3] = T(1);
+        return Result;
+    }
+
+}//namespace inertia
+}//namespace gtx
+}//namespace glm