Bidirectional rotary hydraulic motor and pump

A hydraulic motor and pump comprising:

• a rotary toroidal piston chamber having a rectangular space with a bottom, two sidewalls, and an open top;
• four stationary pistons and two retractable gates for each of said four stationary pistons within said toroidal chamber mounted on a chamber wheel fixed to an axle on which it rotates, wherein said four stationary pistons and said two retractable gates are evenly spaced around said toroidal chamber separating said toroidal chamber into four partitions;
• a piston support for each of said four stationary pistons configured to hold each of said four stationary pistons stationary while said toroidal piston chamber rotates;
• a stationary cover that encircles and seals said open top of said toroidal piston chamber wherein openings through said stationary cover allow each of said piston supports to pass through and be sealed;
• and
• an input port opening and an output port opening in said stationary cover for each said partition;
• wherein said toroidal piston chamber is configured to rotate by reacting directly to continuous hydraulic force on said four stationary pistons.