diff --git a/Demos/SoftDemo/SoftDemo.h b/Demos/SoftDemo/SoftDemo.h
index 3726527a7..dfaede91a 100644
--- a/Demos/SoftDemo/SoftDemo.h
+++ b/Demos/SoftDemo/SoftDemo.h
@@ -49,7 +49,7 @@ public:
 
 	btAlignedObjectArray<btSoftRididCollisionAlgorithm*> m_SoftRigidCollisionAlgorithms;
 
-	btSoftBody::btSoftBodyWorldInfo	m_softBodyWorldInfo;
+	btSoftBodyWorldInfo	m_softBodyWorldInfo;
 
 	
 	bool								m_autocam;
diff --git a/src/BulletDynamics/Dynamics/btRigidBody.h b/src/BulletDynamics/Dynamics/btRigidBody.h
index ff5efd70f..4596f90a0 100644
--- a/src/BulletDynamics/Dynamics/btRigidBody.h
+++ b/src/BulletDynamics/Dynamics/btRigidBody.h
@@ -187,6 +187,26 @@ public:
 
 	void			setDamping(btScalar lin_damping, btScalar ang_damping);
 
+	btScalar getLinearDamping() const
+	{
+		return m_linearDamping;
+	}
+
+	btScalar getAngularDamping() const
+	{
+		return m_angularDamping;
+	}
+
+	btScalar getLinearSleepingThreshold() const
+	{
+		return m_linearSleepingThreshold;
+	}
+
+	btScalar getAngularSleepingThreshold() const
+	{
+		return m_angularSleepingThreshold;
+	}
+
 	void			applyDamping(btScalar timeStep);
 
 	SIMD_FORCE_INLINE const btCollisionShape*	getCollisionShape() const {
diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp
index c8cf5b1d1..36a9a73d7 100644
--- a/src/BulletSoftBody/btSoftBody.cpp
+++ b/src/BulletSoftBody/btSoftBody.cpp
@@ -17,7 +17,7 @@ subject to the following restrictions:
 #include "btSoftBodyInternals.h"
 
 //
-btSoftBody::btSoftBody(btSoftBody::btSoftBodyWorldInfo*	worldInfo,int node_count,  const btVector3* x,  const btScalar* m)
+btSoftBody::btSoftBody(btSoftBodyWorldInfo*	worldInfo,int node_count,  const btVector3* x,  const btScalar* m)
 :m_worldInfo(worldInfo)
 {	
 	/* Init		*/ 
@@ -1911,7 +1911,7 @@ for(i=0;i<m_clusters.size();++i)
 	if(n)
 		{
 		/* Frame				*/ 
-		const btScalar	eps=0.0001;
+		const btScalar	eps=btScalar(0.0001);
 		btMatrix3x3		m,r,s;
 		m[0]=m[1]=m[2]=btVector3(0,0,0);
 		m[0][0]=eps*1;
diff --git a/src/BulletSoftBody/btSoftBody.h b/src/BulletSoftBody/btSoftBody.h
index 80dbf8d1d..2131ead7a 100644
--- a/src/BulletSoftBody/btSoftBody.h
+++ b/src/BulletSoftBody/btSoftBody.h
@@ -31,6 +31,20 @@ subject to the following restrictions:
 class btBroadphaseInterface;
 class btCollisionDispatcher;
 
+/* btSoftBodyWorldInfo	*/ 
+struct	btSoftBodyWorldInfo
+{
+	btScalar				air_density;
+	btScalar				water_density;
+	btScalar				water_offset;
+	btVector3				water_normal;
+	btBroadphaseInterface*	m_broadphase;
+	btCollisionDispatcher*	m_dispatcher;
+	btVector3				m_gravity;
+	btSparseSdf<3>			m_sparsesdf;
+};	
+
+
 /// btSoftBody is work-in-progress
 class	btSoftBody : public btCollisionObject
 {
@@ -135,18 +149,6 @@ public:
 
 	typedef btAlignedObjectArray<btScalar>	tScalarArray;
 	typedef btAlignedObjectArray<btVector3>	tVector3Array;
-	/* btSoftBodyWorldInfo	*/ 
-	struct	btSoftBodyWorldInfo
-	{
-		btScalar				air_density;
-		btScalar				water_density;
-		btScalar				water_offset;
-		btVector3				water_normal;
-		btBroadphaseInterface*	m_broadphase;
-		btCollisionDispatcher*	m_dispatcher;
-		btVector3				m_gravity;
-		btSparseSdf<3>			m_sparsesdf;
-	};	
 
 	/* sCti is Softbody contact info	*/ 
 	struct	sCti
diff --git a/src/BulletSoftBody/btSoftBodyHelpers.cpp b/src/BulletSoftBody/btSoftBodyHelpers.cpp
index 5f6dec672..05f62158c 100644
--- a/src/BulletSoftBody/btSoftBodyHelpers.cpp
+++ b/src/BulletSoftBody/btSoftBodyHelpers.cpp
@@ -444,7 +444,7 @@ void			btSoftBodyHelpers::DrawFrame(		btSoftBody* psb,
 }
 
 //
-btSoftBody*		btSoftBodyHelpers::CreateRope(	btSoftBody::btSoftBodyWorldInfo& worldInfo, const btVector3& from,
+btSoftBody*		btSoftBodyHelpers::CreateRope(	btSoftBodyWorldInfo& worldInfo, const btVector3& from,
 						   const btVector3& to,
 						   int res,
 						   int fixeds)
@@ -476,7 +476,7 @@ btSoftBody*		btSoftBodyHelpers::CreateRope(	btSoftBody::btSoftBodyWorldInfo& wor
 }
 
 //
-btSoftBody*		btSoftBodyHelpers::CreatePatch(btSoftBody::btSoftBodyWorldInfo& worldInfo,const btVector3& corner00,
+btSoftBody*		btSoftBodyHelpers::CreatePatch(btSoftBodyWorldInfo& worldInfo,const btVector3& corner00,
 							const btVector3& corner10,
 							const btVector3& corner01,
 							const btVector3& corner11,
@@ -553,7 +553,7 @@ btSoftBody*		btSoftBodyHelpers::CreatePatch(btSoftBody::btSoftBodyWorldInfo& wor
 }
 
 //
-btSoftBody*		btSoftBodyHelpers::CreateEllipsoid(btSoftBody::btSoftBodyWorldInfo& worldInfo,const btVector3& center,
+btSoftBody*		btSoftBodyHelpers::CreateEllipsoid(btSoftBodyWorldInfo& worldInfo,const btVector3& center,
 								const btVector3& radius,
 								int res)
 {
@@ -585,7 +585,7 @@ btSoftBody*		btSoftBodyHelpers::CreateEllipsoid(btSoftBody::btSoftBodyWorldInfo&
 
 
 //
-btSoftBody*		btSoftBodyHelpers::CreateFromTriMesh(btSoftBody::btSoftBodyWorldInfo& worldInfo,const btScalar*	vertices,
+btSoftBody*		btSoftBodyHelpers::CreateFromTriMesh(btSoftBodyWorldInfo& worldInfo,const btScalar*	vertices,
 								  const int* triangles,
 								  int ntriangles)
 {
@@ -627,7 +627,7 @@ btSoftBody*		btSoftBodyHelpers::CreateFromTriMesh(btSoftBody::btSoftBodyWorldInf
 }
 
 //
-btSoftBody*		btSoftBodyHelpers::CreateFromConvexHull(btSoftBody::btSoftBodyWorldInfo& worldInfo,	const btVector3* vertices,
+btSoftBody*		btSoftBodyHelpers::CreateFromConvexHull(btSoftBodyWorldInfo& worldInfo,	const btVector3* vertices,
 									 int nvertices)
 {
 	HullDesc		hdsc(QF_TRIANGLES,nvertices,vertices);
diff --git a/src/BulletSoftBody/btSoftBodyHelpers.h b/src/BulletSoftBody/btSoftBodyHelpers.h
index 2e9a989b5..7e99d685a 100644
--- a/src/BulletSoftBody/btSoftBodyHelpers.h
+++ b/src/BulletSoftBody/btSoftBodyHelpers.h
@@ -73,13 +73,13 @@ struct	btSoftBodyHelpers
 	static	void			DrawFrame(		btSoftBody* psb,
 											btIDebugDraw* idraw);
 	/* Create a rope														*/ 
-	static	btSoftBody*		CreateRope( btSoftBody::btSoftBodyWorldInfo& worldInfo,
+	static	btSoftBody*		CreateRope( btSoftBodyWorldInfo& worldInfo,
 										const btVector3& from,
 										const btVector3& to,
 										int res,
 										int fixeds);
 	/* Create a patch														*/ 
-	static	btSoftBody*		CreatePatch(btSoftBody::btSoftBodyWorldInfo& worldInfo,
+	static	btSoftBody*		CreatePatch(btSoftBodyWorldInfo& worldInfo,
 										const btVector3& corner00,
 										const btVector3& corner10,
 										const btVector3& corner01,
@@ -89,17 +89,17 @@ struct	btSoftBodyHelpers
 										int fixeds,
 										bool gendiags);
 	/* Create an ellipsoid													*/ 
-	static	btSoftBody*		CreateEllipsoid(btSoftBody::btSoftBodyWorldInfo& worldInfo,
+	static	btSoftBody*		CreateEllipsoid(btSoftBodyWorldInfo& worldInfo,
 											const btVector3& center,
 											const btVector3& radius,
 											int res);	
 	/* Create from trimesh													*/ 
-	static	btSoftBody*		CreateFromTriMesh(	btSoftBody::btSoftBodyWorldInfo& worldInfo,
+	static	btSoftBody*		CreateFromTriMesh(	btSoftBodyWorldInfo& worldInfo,
 												const btScalar*	vertices,
 												const int* triangles,
 												int ntriangles);
 	/* Create from convex-hull												*/ 
-	static	btSoftBody*		CreateFromConvexHull(	btSoftBody::btSoftBodyWorldInfo& worldInfo,
+	static	btSoftBody*		CreateFromConvexHull(	btSoftBodyWorldInfo& worldInfo,
 													const btVector3* vertices,
 													int nvertices);
 };
diff --git a/src/BulletSoftBody/btSoftBodyInternals.h b/src/BulletSoftBody/btSoftBodyInternals.h
index b558cabc0..fd8e8b71c 100644
--- a/src/BulletSoftBody/btSoftBodyInternals.h
+++ b/src/BulletSoftBody/btSoftBodyInternals.h
@@ -506,7 +506,7 @@ static inline btScalar		VolumeOf(	const btVector3& x0,
 }
 
 //
-static void					EvaluateMedium(	const btSoftBody::btSoftBodyWorldInfo* wfi,
+static void					EvaluateMedium(	const btSoftBodyWorldInfo* wfi,
 											const btVector3& x,
 											btSoftBody::sMedium& medium)
 {
diff --git a/src/BulletSoftBody/btSoftRigidDynamicsWorld.h b/src/BulletSoftBody/btSoftRigidDynamicsWorld.h
index 3b498bb58..1ffeeca33 100644
--- a/src/BulletSoftBody/btSoftRigidDynamicsWorld.h
+++ b/src/BulletSoftBody/btSoftRigidDynamicsWorld.h
@@ -40,14 +40,15 @@ protected:
 
 	void	solveSoftBodiesConstraints();
 
-	virtual void	debugDrawWorld();
+	
 
 public:
 	
 	btSoftRigidDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
 
 	virtual ~btSoftRigidDynamicsWorld();
-		
+	
+	virtual void	debugDrawWorld();
 			
 	void	addSoftBody(btSoftBody* body);