found http://physci.kennesaw.edu/mzoughi/Simulations.shtm using this model too :)
http://physci.kennesaw.edu/ejs/ejs_TM_NTNU_DCmotor.jar

Taha Mzoughi's implementation of the torque looks ok but i don't understand why his model the inertia of the DC motor affects the magnetic force.
strange.

anyway,
looks like
torque and inertia are desirable for future versions of the DC motor!