diff --git a/CMakeLists.txt b/CMakeLists.txt
index add652125..c14c02640 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -219,7 +219,7 @@ ENDIF (USE_DOUBLE_PRECISION)
 
 IF (NOT USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
 ADD_DEFINITIONS(-DSKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
-ENDIF (USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
+ENDIF ()
 
 IF(USE_GRAPHICAL_BENCHMARK)
 ADD_DEFINITIONS( -DUSE_GRAPHICAL_BENCHMARK)
diff --git a/Extras/InverseDynamics/btMultiBodyFromURDF.hpp b/Extras/InverseDynamics/btMultiBodyFromURDF.hpp
index f3e2a7c05..444a7134e 100644
--- a/Extras/InverseDynamics/btMultiBodyFromURDF.hpp
+++ b/Extras/InverseDynamics/btMultiBodyFromURDF.hpp
@@ -44,7 +44,7 @@ public:
     void init() {
         this->createEmptyDynamicsWorld();
         m_dynamicsWorld->setGravity(m_gravity);
-        BulletURDFImporter urdf_importer(&m_nogfx,0,1);
+        BulletURDFImporter urdf_importer(&m_nogfx,0,1,0);
         URDFImporterInterface &u2b(urdf_importer);
         bool loadOk = u2b.loadURDF(m_filename.c_str(), m_base_fixed);
 
diff --git a/examples/Importers/ImportSDFDemo/ImportSDFSetup.cpp b/examples/Importers/ImportSDFDemo/ImportSDFSetup.cpp
index 5f360072e..3455704e7 100644
--- a/examples/Importers/ImportSDFDemo/ImportSDFSetup.cpp
+++ b/examples/Importers/ImportSDFDemo/ImportSDFSetup.cpp
@@ -187,7 +187,7 @@ void ImportSDFSetup::initPhysics()
 	m_dynamicsWorld->setGravity(gravity);
 
 	
-    BulletURDFImporter u2b(m_guiHelper, 0,1);
+    BulletURDFImporter u2b(m_guiHelper, 0,1,0);
     
     bool loadOk =  u2b.loadSDF(m_fileName);
 
diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
index 8bfa98f13..96060ffbb 100644
--- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
+++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
@@ -23,7 +23,7 @@ class BulletURDFImporter : public URDFImporterInterface
 
 public:
 
-	BulletURDFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter, double globalScaling, int flags);
+	BulletURDFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter, double globalScaling=1, int flags=0);
 
 	virtual ~BulletURDFImporter();
 
diff --git a/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp b/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
index 7e9afeba1..4f077d8b3 100644
--- a/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
+++ b/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
@@ -194,7 +194,9 @@ void ImportUrdfSetup::initPhysics()
 	}
 	
 
-	BulletURDFImporter u2b(m_guiHelper, 0,1);
+	int flags=0;
+	double globalScaling=1;
+	BulletURDFImporter u2b(m_guiHelper, 0,globalScaling,flags);
 	
 	
 	bool loadOk = u2b.loadURDF(m_fileName);
diff --git a/examples/InverseDynamics/InverseDynamicsExample.cpp b/examples/InverseDynamics/InverseDynamicsExample.cpp
index adc939cc4..7a8c615e9 100644
--- a/examples/InverseDynamics/InverseDynamicsExample.cpp
+++ b/examples/InverseDynamics/InverseDynamicsExample.cpp
@@ -156,7 +156,7 @@ void InverseDynamicsExample::initPhysics()
 
 
 			
-            BulletURDFImporter u2b(m_guiHelper,0,1);
+            BulletURDFImporter u2b(m_guiHelper,0,1,0);
 			bool loadOk = u2b.loadURDF("kuka_iiwa/model.urdf");// lwr / kuka.urdf");
             if (loadOk)
             {
diff --git a/examples/SharedMemory/premake4.lua b/examples/SharedMemory/premake4.lua
index eca0ba160..e0818dd2c 100644
--- a/examples/SharedMemory/premake4.lua
+++ b/examples/SharedMemory/premake4.lua
@@ -10,7 +10,7 @@ end
 includedirs {".","../../src", "../ThirdPartyLibs"}
 
 links {
-	"Bullet3Common","BulletInverseDynamicsUtils", "BulletInverseDynamics",	"BulletDynamics","BulletCollision", "LinearMath", "BussIK"
+	"BulletSoftBody", "Bullet3Common","BulletInverseDynamicsUtils", "BulletInverseDynamics",	"BulletDynamics","BulletCollision", "LinearMath", "BussIK"
 }
 
 language "C++"
@@ -163,7 +163,7 @@ defines {"B3_USE_STANDALONE_EXAMPLE"}
 includedirs {"../../src", "../ThirdPartyLibs"}
 
 links {
-        "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision", "LinearMath", "OpenGL_Window","Bullet3Common","BussIK"
+       "BulletSoftBody",  "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision", "LinearMath", "OpenGL_Window","Bullet3Common","BussIK"
 }
 	initOpenGL()
   initGlew()
@@ -334,7 +334,7 @@ if os.is("Windows") then
 		}
 						
 	links {
-		"BulletInverseDynamicsUtils", "BulletInverseDynamics","Bullet3Common",	"BulletDynamics","BulletCollision", "LinearMath","OpenGL_Window","openvr_api","BussIK"
+		"BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics","Bullet3Common",	"BulletDynamics","BulletCollision", "LinearMath","OpenGL_Window","openvr_api","BussIK"
 	}
 	
 	
diff --git a/examples/SharedMemory/tcp/premake4.lua b/examples/SharedMemory/tcp/premake4.lua
index 9c940402e..7a72fb04e 100644
--- a/examples/SharedMemory/tcp/premake4.lua
+++ b/examples/SharedMemory/tcp/premake4.lua
@@ -62,7 +62,7 @@ defines { "NO_SHARED_MEMORY" }
 includedirs {"..","../../../src", "../../ThirdPartyLibs","../../ThirdPartyLibs/clsocket/src"}
 
 links {
-	"clsocket","Bullet3Common","BulletInverseDynamicsUtils", "BulletInverseDynamics",	"BulletDynamics","BulletCollision", "LinearMath", "BussIK"
+	"clsocket","Bullet3Common","BulletInverseDynamicsUtils", "BulletInverseDynamics",	"BulletSoftBody", "BulletDynamics","BulletCollision", "LinearMath", "BussIK"
 }
 
 
diff --git a/examples/SharedMemory/udp/premake4.lua b/examples/SharedMemory/udp/premake4.lua
index 26aeebc0b..ec8a8f2a5 100644
--- a/examples/SharedMemory/udp/premake4.lua
+++ b/examples/SharedMemory/udp/premake4.lua
@@ -61,7 +61,7 @@ defines { "NO_SHARED_MEMORY" }
 includedirs {"..","../../../src", "../../ThirdPartyLibs","../../ThirdPartyLibs/enet/include"}
 
 links {
-	"enet","Bullet3Common","BulletInverseDynamicsUtils", "BulletInverseDynamics",	"BulletDynamics","BulletCollision", "LinearMath", "BussIK"
+	"enet","Bullet3Common","BulletInverseDynamicsUtils", "BulletInverseDynamics",	"BulletSoftBody",  "BulletDynamics","BulletCollision", "LinearMath", "BussIK"
 }
 
 if os.is("Windows") then 
diff --git a/test/SharedMemory/premake4.lua b/test/SharedMemory/premake4.lua
index 9eb1bb54c..90529aeca 100644
--- a/test/SharedMemory/premake4.lua
+++ b/test/SharedMemory/premake4.lua
@@ -152,7 +152,7 @@ project ("Test_PhysicsServerLoopBack")
 
 		includedirs {"../../src", "../../examples",
 		"../../examples/ThirdPartyLibs"}
-		defines {"PHYSICS_LOOP_BACK"}
+		defines {"PHYSICS_LOOP_BACK", "SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD"}
 		links {
 			"BulletInverseDynamicsUtils",
 			"BulletInverseDynamics",
@@ -238,7 +238,7 @@ end
 
 		includedirs {"../../src", "../../examples",
 		"../../examples/ThirdPartyLibs"}
-		defines {"PHYSICS_SERVER_DIRECT"}
+		defines {"PHYSICS_SERVER_DIRECT","SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD"}
 		links {
 			"BulletInverseDynamicsUtils",
 			"BulletInverseDynamics",
@@ -321,7 +321,7 @@ project ("Test_PhysicsServerInProcessExampleBrowser")
 
 		includedirs {"../../src", "../../examples",
 		"../../examples/ThirdPartyLibs"}
-		defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER"}
+		defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER", "SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD"}
 --		links {
 --			"BulletExampleBrowserLib",
 --			"BulletFileLoader",