diff --git a/Extras/PhysicsInterface/CcdPhysics/SimulationIsland.cpp b/Extras/PhysicsInterface/CcdPhysics/SimulationIsland.cpp
index 00b9e2e1a..ec2eda257 100644
--- a/Extras/PhysicsInterface/CcdPhysics/SimulationIsland.cpp
+++ b/Extras/PhysicsInterface/CcdPhysics/SimulationIsland.cpp
@@ -181,7 +181,7 @@ bool	SimulationIsland::Simulate(btIDebugDraw* debugDrawer,int numSolverIteration
 	}
 	*/
 
-	//OverlappingPairCache*	scene = getCollisionWorld()->getPairCache();
+	//btOverlappingPairCache*	scene = getCollisionWorld()->getPairCache();
 	
 	btContactSolverInfo	solverInfo;
 
@@ -449,10 +449,13 @@ void	SimulationIsland::UpdateAabbs(btIDebugDraw* debugDrawer,btBroadphaseInterfa
 						if (reportMe)
 						{
 							reportMe = false;
+							assert(0);
+							/*
 							printf("Overflow in AABB, object removed from simulation \n");
 							printf("If you can reproduce this, please email bugs@continuousphysics.com\n");
 							printf("Please include above information, your Platform, version of OS.\n");
 							printf("Thanks.\n");
+							*/
 						}
 						
 					}
diff --git a/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h b/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
index 069de5c76..92aa18ee5 100644
--- a/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
+++ b/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
@@ -55,7 +55,7 @@ CONCAVE_SHAPES_END_HERE,
 };
 
 
-///BroadphaseProxy
+///btBroadphaseProxy
 struct btBroadphaseProxy
 {
 	
diff --git a/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h b/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h
index 3f32cf460..70fa11b2c 100644
--- a/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h
+++ b/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h
@@ -37,7 +37,7 @@ struct btCollisionAlgorithmConstructionInfo
 };
 
 
-///CollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatcher.
+///btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatcher.
 ///It is persistent over frames
 class btCollisionAlgorithm
 {
diff --git a/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h b/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
index 3ce1ac4fe..008349030 100644
--- a/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
+++ b/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
@@ -33,7 +33,7 @@ virtual ~btOverlapCallback()
 	virtual bool	processOverlap(btBroadphasePair& pair) = 0;
 };
 
-///OverlappingPairCache maintains the objects with overlapping AABB
+///btOverlappingPairCache maintains the objects with overlapping AABB
 ///Typically managed by the Broadphase, Axis3Sweep or btSimpleBroadphase
 class	btOverlappingPairCache : public btBroadphaseInterface
 {
diff --git a/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h b/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h
index dfe1b5eed..aede551ac 100644
--- a/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h
+++ b/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h
@@ -33,7 +33,7 @@ class btOverlappingPairCache;
 
 
 
-///CollisionDispatcher supports algorithms that handle ConvexConvex and ConvexConcave collision pairs.
+///btCollisionDispatcher supports algorithms that handle ConvexConvex and ConvexConcave collision pairs.
 ///Time of Impact, Closest Points and Penetration Depth.
 class btCollisionDispatcher : public btDispatcher
 {
diff --git a/src/BulletCollision/CollisionDispatch/btManifoldResult.h b/src/BulletCollision/CollisionDispatch/btManifoldResult.h
index bf6e54535..6b4b3f1e6 100644
--- a/src/BulletCollision/CollisionDispatch/btManifoldResult.h
+++ b/src/BulletCollision/CollisionDispatch/btManifoldResult.h
@@ -27,7 +27,7 @@ extern ContactAddedCallback		gContactAddedCallback;
 
 
 
-///ManifoldResult is a helper class to manage  contact results.
+///btManifoldResult is a helper class to manage  contact results.
 class btManifoldResult : public btDiscreteCollisionDetectorInterface::Result
 {
 	btPersistentManifold* m_manifoldPtr;
diff --git a/src/BulletCollision/CollisionShapes/btBoxShape.cpp b/src/BulletCollision/CollisionShapes/btBoxShape.cpp
index cb14caa64..b5f80de45 100644
--- a/src/BulletCollision/CollisionShapes/btBoxShape.cpp
+++ b/src/BulletCollision/CollisionShapes/btBoxShape.cpp
@@ -17,7 +17,7 @@ subject to the following restrictions:
 
 btVector3 btBoxShape::getHalfExtents() const
 {
-	return m_boxHalfExtents1 * m_localScaling;
+	return m_implicitShapeDimensions * m_localScaling;
 }
 //{ 
 
diff --git a/src/BulletCollision/CollisionShapes/btBoxShape.h b/src/BulletCollision/CollisionShapes/btBoxShape.h
index 76aa9224f..b137eb115 100644
--- a/src/BulletCollision/CollisionShapes/btBoxShape.h
+++ b/src/BulletCollision/CollisionShapes/btBoxShape.h
@@ -22,21 +22,17 @@ subject to the following restrictions:
 #include "LinearMath/btPoint3.h"
 #include "LinearMath/btSimdMinMax.h"
 
-///BoxShape implements both a feature based (vertex/edge/plane) and implicit (getSupportingVertex) Box
+///btBoxShape implements both a feature based (vertex/edge/plane) and implicit (getSupportingVertex) Box
 class btBoxShape: public btPolyhedralConvexShape
 {
 
-	btVector3	m_boxHalfExtents1;
+	//btVector3	m_boxHalfExtents1; //use m_implicitShapeDimensions instead
 
 
 public:
 
 	btVector3 getHalfExtents() const;
-	//{ return m_boxHalfExtents1 * m_localScaling;}
- 	//const btVector3& getHalfExtents() const{ return m_boxHalfExtents1;}
-
-
-	
+		
 	virtual int	getShapeType() const { return BOX_SHAPE_PROXYTYPE;}
 
 	virtual btVector3	localGetSupportingVertex(const btVector3& vec) const
@@ -81,7 +77,10 @@ public:
 	}
 
 
-	btBoxShape( const btVector3& boxHalfExtents) :  m_boxHalfExtents1(boxHalfExtents){};
+	btBoxShape( const btVector3& boxHalfExtents)
+	{
+		m_implicitShapeDimensions = boxHalfExtents;
+	};
 	
 	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
 
diff --git a/src/BulletCollision/CollisionShapes/btConvexShape.h b/src/BulletCollision/CollisionShapes/btConvexShape.h
index acc14c8ff..3ffde1ba5 100644
--- a/src/BulletCollision/CollisionShapes/btConvexShape.h
+++ b/src/BulletCollision/CollisionShapes/btConvexShape.h
@@ -33,6 +33,16 @@ struct btConvexCastResult;
 /// used in combination with GJK or btConvexCast
 class btConvexShape : public btCollisionShape
 {
+	
+protected:
+
+	//local scaling. collisionMargin is not scaled !
+	btVector3	m_localScaling;
+
+	btVector3	m_implicitShapeDimensions;
+	
+	btScalar	m_collisionMargin;
+
 public:
 	btConvexShape();
 
@@ -42,7 +52,10 @@ public:
 	//notice that the vectors should be unit length
 	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const= 0;
 
-	// testing for hullnode code
+	const btVector3& getImplicitShapeDimensions() const
+	{
+		return m_implicitShapeDimensions;
+	}
 
 	///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
 	void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
@@ -70,11 +83,7 @@ public:
 	{
 		return m_collisionMargin;
 	}
-private:
-	btScalar	m_collisionMargin;
-	//local scaling. collisionMargin is not scaled !
-protected:
-	btVector3	m_localScaling;
+
 
 };
 
diff --git a/src/BulletCollision/CollisionShapes/btMultiSphereShape.h b/src/BulletCollision/CollisionShapes/btMultiSphereShape.h
index 2025e9c15..6a9151df2 100644
--- a/src/BulletCollision/CollisionShapes/btMultiSphereShape.h
+++ b/src/BulletCollision/CollisionShapes/btMultiSphereShape.h
@@ -21,7 +21,7 @@ subject to the following restrictions:
 
 #define MAX_NUM_SPHERES 5
 
-///MultiSphereShape represents implicit convex hull of a collection of spheres (using getSupportingVertex)
+///btMultiSphereShape represents implicit convex hull of a collection of spheres (using getSupportingVertex)
 class btMultiSphereShape : public btConvexShape
 
 {
diff --git a/src/BulletCollision/CollisionShapes/btSphereShape.cpp b/src/BulletCollision/CollisionShapes/btSphereShape.cpp
index add22888b..39e458c0f 100644
--- a/src/BulletCollision/CollisionShapes/btSphereShape.cpp
+++ b/src/BulletCollision/CollisionShapes/btSphereShape.cpp
@@ -20,8 +20,8 @@ subject to the following restrictions:
 
 
 btSphereShape ::btSphereShape (btScalar radius)
-: m_radius(radius)
-{	
+{
+	m_implicitShapeDimensions.setX(radius);
 }
 
 btVector3	btSphereShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
diff --git a/src/BulletCollision/CollisionShapes/btSphereShape.h b/src/BulletCollision/CollisionShapes/btSphereShape.h
index 231c97c00..2db6a872b 100644
--- a/src/BulletCollision/CollisionShapes/btSphereShape.h
+++ b/src/BulletCollision/CollisionShapes/btSphereShape.h
@@ -19,11 +19,10 @@ subject to the following restrictions:
 #include "btConvexShape.h"
 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
 
-///SphereShape implements an implicit (getSupportingVertex) Sphere
+///btSphereShape implements an implicit (getSupportingVertex) Sphere
 class btSphereShape : public btConvexShape
 
 {
-	btScalar m_radius;
 	
 public:
 	btSphereShape (btScalar radius);
@@ -41,7 +40,7 @@ public:
 
 	virtual int	getShapeType() const { return SPHERE_SHAPE_PROXYTYPE; }
 
-	btScalar	getRadius() const { return m_radius;}
+	btScalar	getRadius() const { return m_implicitShapeDimensions.getX();}
 
 	//debugging
 	virtual char*	getName()const {return "SPHERE";}
@@ -54,7 +53,7 @@ public:
 	{
 		//to improve gjk behaviour, use radius+margin as the full margin, so never get into the penetration case
 		//this means, non-uniform scaling is not supported anymore
-		return m_localScaling[0] * m_radius + btConvexShape::getMargin();
+		return m_localScaling.getX() * getRadius() + btConvexShape::getMargin();
 	}
 
 
diff --git a/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h b/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
index cbe4cca92..d0cc2577f 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
+++ b/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
@@ -34,7 +34,7 @@ extern ContactDestroyedCallback	gContactDestroyedCallback;
 
 #define MANIFOLD_CACHE_SIZE 4
 
-///PersistentManifold maintains contact points, and reduces them to 4.
+///btPersistentManifold maintains contact points, and reduces them to 4.
 ///It does contact filtering/contact reduction.
 class btPersistentManifold 
 {