diff --git a/build/bin/mainV8.exe b/build/bin/mainV8.exe
index 2eefb28..1b6ac81 100644
Binary files a/build/bin/mainV8.exe and b/build/bin/mainV8.exe differ
diff --git a/src/pieces/methods/caviglia_class.cpp b/src/pieces/methods/caviglia_class.cpp
index 7acf43c..a1ea29e 100644
--- a/src/pieces/methods/caviglia_class.cpp
+++ b/src/pieces/methods/caviglia_class.cpp
@@ -2,7 +2,7 @@
 
 Caviglia::Caviglia(rb::Vector3 coords, _Float16 mass){
     rb::Vector3 com = {caviglia_Dim.x/2,caviglia_Dim.x/2, caviglia_Dim.y/2};
-    body = rb::rigidbody(coords, com, mass);
+    body = rb::rigidbody(coords, com, mass, caviglia_Dim.x/2);
     color = caviglia_Col;
     globalPos = {0,0,0};
 
diff --git a/src/pieces/methods/coscia_class.cpp b/src/pieces/methods/coscia_class.cpp
index cd510d0..d8e0709 100644
--- a/src/pieces/methods/coscia_class.cpp
+++ b/src/pieces/methods/coscia_class.cpp
@@ -2,7 +2,7 @@
 
 Coscia::Coscia(rb::Vector3 coords, _Float16 mass){
     rb::Vector3 com = {coscia_Dim.x/2,coscia_Dim.z/2,coscia_Dim.y/2};
-    body = rb::rigidbody(coords, com, mass);
+    body = rb::rigidbody(coords, com, mass, coscia_Dim.z/2);
     color = coscia_Col;
     globalPos = {0,0,0};
     initialize_shapes(coscia_Dim);
diff --git a/src/pieces/methods/sensore_class.cpp b/src/pieces/methods/sensore_class.cpp
index e776d6a..94f8218 100644
--- a/src/pieces/methods/sensore_class.cpp
+++ b/src/pieces/methods/sensore_class.cpp
@@ -3,7 +3,7 @@
 
 Sensore::Sensore(rb::Vector3 coords, _Float16 mass){
     rb::Vector3 com = {sensore_Dim.x/2,sensore_Dim.z/2, sensore_Dim.y/2};
-    body = rb::rigidbody(coords, com, mass);
+    body = rb::rigidbody(coords, com, mass, sensore_Dim.z/2);
     color = sensore_Col;
     globalPos = {0,0,0};
     initialize_shapes(sensore_Dim);
diff --git a/src/pieces/methods/torso.cpp b/src/pieces/methods/torso.cpp
index dbb49bf..a48c7f7 100644
--- a/src/pieces/methods/torso.cpp
+++ b/src/pieces/methods/torso.cpp
@@ -2,7 +2,7 @@
 
 Torso::Torso(rb::Vector3 coords, _Float16 mass){
     rb::Vector3 com = {torso_Dim.x/2, torso_Dim.y/2, torso_Dim.z/2};
-    body = rb::rigidbody(coords,com, mass);
+    body = rb::rigidbody(coords,com, mass, torso_Dim.y/2);
     color = torso_Col;
     globalPos = {0,0,0};
 
diff --git a/src/rigidbody/headers/rb.hpp b/src/rigidbody/headers/rb.hpp
index 3b52bea..6f1e176 100644
--- a/src/rigidbody/headers/rb.hpp
+++ b/src/rigidbody/headers/rb.hpp
@@ -16,7 +16,9 @@
                 Vector3 acc = {0,0,0};
                 Vector3 rot = {0,0,0};
                 Vector3 tanAcc = {0,0,0};
+                Vector3 tanVel = {0,0,0};
 
+                float R = 1;
                 _Float16 mass = 1;
 
                 Vector3 coords = {0,0,0};
@@ -34,8 +36,8 @@
 
 
             public:
-                rigidbody(){}
-                rigidbody(Vector3 coords, Vector3 centerOfMass, _Float16 mass);
+                rigidbody(){ }
+                rigidbody(Vector3 coords, Vector3 centerOfMass, _Float16 mass, float radius);
                 ~rigidbody();
 
                 
@@ -45,7 +47,7 @@
                 void setRot(const Vector3 Nrot);
                 void setVel(const Vector3 Nacc);
                 void setAcc(const Vector3 Nvel);
-                void setTanAcc(const Vector3 Dacc, const Vector3 pos);
+                void setTanAcc(const Vector3 Dacc);
                 void step(const sf::Clock time);
 
                 //complesso, deve definire accelerazione e accelerazione tangenziale 
diff --git a/src/rigidbody/methods/rb_class.cpp b/src/rigidbody/methods/rb_class.cpp
index 943f3bf..7b0fb78 100755
--- a/src/rigidbody/methods/rb_class.cpp
+++ b/src/rigidbody/methods/rb_class.cpp
@@ -3,7 +3,7 @@
 
 using namespace rb ;
 
-rigidbody::rigidbody(Vector3 coords, Vector3 centerOfMass, _Float16 mass)
+rigidbody::rigidbody(Vector3 coords, Vector3 centerOfMass, _Float16 mass, float radius)
 {
     if (coords.size() != 3) throw "Coords must be 3";
     if (centerOfMass.size() != 3) throw "COM coords must be 3";
@@ -11,7 +11,7 @@ rigidbody::rigidbody(Vector3 coords, Vector3 centerOfMass, _Float16 mass)
     this->coords = coords;
     this->centerOfMass = centerOfMass;
     this->mass = mass;
-
+    this->R = radius;
 }
 
 rigidbody::~rigidbody()
@@ -37,7 +37,7 @@ void rigidbody::setPos(Vector3 Npos){
 }
 
 void rigidbody::setAcc(const Vector3 Nacc){
-    if (Nacc.size() != 3) throw "Vel vector must be 3 in lenght!";
+    if (Nacc.size() != 3) throw "Acc vector must be 3 in lenght!";
     
     int i = 0;
     for (float axis : Nacc){
@@ -93,15 +93,42 @@ void rigidbody::step(const sf::Clock time){
     float dt = (float(Dtime) / 1000000.0) - (float(prevT) / 1000000.0);
     prevT = Dtime;
 
+    calcRot(dt);
     calcPos(dt);
     calcVel(dt);
 }
     
-void rigidbody::setTanAcc(const Vector3 Dacc, const Vector3 pos){
-    
+void rigidbody::setTanAcc(const Vector3 Dacc){
+    if (Dacc.size() != 3) throw "Vel vector must be 3 in lenght!";
+
+    int i = 0;
+    for (float a : Dacc ){
+        tanAcc[i] = a;
+        i++;
+    }
+
 }
 
 
 void rigidbody::calcRot(const float Dtime){
+    // Ds = wt +1/2*at^2 -> l'accelerazione angolare la trovo ac = v^2/R
+    Vector3 tmpVel;
+    for (float a : tanAcc){
+        tmpVel.push_back( a*Dtime );
+    }
+    int i = 0;
+    for (float nv : tmpVel){
+        tanVel[i++] += nv;
+    }
+
+    Vector3 tmpTanAcc;
+    for (int i = 0; i<3; i++){
+        tmpTanAcc.push_back( pow(tanVel[i],2) / R );
+    }
+
+    i=0;
+    for (auto axes : rot){
+        axes += 0.5 * tmpTanAcc[i] * pow(Dtime,2);
+    }
 
 }