diff --git a/src/BulletCollision/BroadphaseCollision/btDbvt.cpp b/src/BulletCollision/BroadphaseCollision/btDbvt.cpp
index f999b588b..e929abe7c 100644
--- a/src/BulletCollision/BroadphaseCollision/btDbvt.cpp
+++ b/src/BulletCollision/BroadphaseCollision/btDbvt.cpp
@@ -393,12 +393,13 @@ static DBVT_INLINE btDbvtNode*	sort(btDbvtNode* n,btDbvtNode*& r)
 	return(n);
 }
 
-//
+#if 0
 static DBVT_INLINE btDbvtNode*	walkup(btDbvtNode* n,int count)
 {
 	while(n&&(count--)) n=n->parent;
 	return(n);
 }
+#endif
 
 //
 // Api
diff --git a/src/BulletCollision/BroadphaseCollision/btDbvt.h b/src/BulletCollision/BroadphaseCollision/btDbvt.h
index 77c59ff30..ae4d74468 100644
--- a/src/BulletCollision/BroadphaseCollision/btDbvt.h
+++ b/src/BulletCollision/BroadphaseCollision/btDbvt.h
@@ -82,7 +82,7 @@ subject to the following restrictions:
 #define DBVT_VIRTUAL_DTOR(a)
 #define DBVT_PREFIX					template <typename T>
 #define DBVT_IPOLICY				T& policy
-#define DBVT_CHECKTYPE				static const ICollide&	typechecker=*(T*)0;
+#define DBVT_CHECKTYPE				static const ICollide&	typechecker=*(T*)1;(void)typechecker;
 #else
 #define	DBVT_VIRTUAL_DTOR(a)		virtual ~a() {}
 #define DBVT_VIRTUAL				virtual
diff --git a/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp b/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp
index be9169ec8..fb3f6a26a 100644
--- a/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp
+++ b/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp
@@ -211,23 +211,22 @@ void	btDbvtBroadphase::getAabb(btBroadphaseProxy* absproxy,btVector3& aabbMin, b
 	aabbMax = proxy->m_aabbMax;
 }
 
+struct	BroadphaseRayTester : btDbvt::ICollide
+{
+	btBroadphaseRayCallback& m_rayCallback;
+	BroadphaseRayTester(btBroadphaseRayCallback& orgCallback)
+		:m_rayCallback(orgCallback)
+	{
+	}
+	void					Process(const btDbvtNode* leaf)
+	{
+		btDbvtProxy*	proxy=(btDbvtProxy*)leaf->data;
+		m_rayCallback.process(proxy);
+	}
+};	
+
 void	btDbvtBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback,const btVector3& aabbMin,const btVector3& aabbMax)
 {
-
-	struct	BroadphaseRayTester : btDbvt::ICollide
-	{
-		btBroadphaseRayCallback& m_rayCallback;
-		BroadphaseRayTester(btBroadphaseRayCallback& orgCallback)
-			:m_rayCallback(orgCallback)
-		{
-		}
-		void					Process(const btDbvtNode* leaf)
-		{
-			btDbvtProxy*	proxy=(btDbvtProxy*)leaf->data;
-			m_rayCallback.process(proxy);
-		}
-	};	
-
 	BroadphaseRayTester callback(rayCallback);
 
 	m_sets[0].rayTestInternal(	m_sets[0].m_root,
diff --git a/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp b/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp
index 71327bfa3..f4f1753c7 100644
--- a/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp
+++ b/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp
@@ -469,7 +469,6 @@ void	btQuantizedBvh::walkStacklessTreeAgainstRay(btNodeOverlapCallback* nodeCall
 	rayAabbMax += aabbMax;
 
 #ifdef RAYAABB2
-	btVector3 rayFrom = raySource;
 	btVector3 rayDir = (rayTarget-raySource);
 	rayDir.normalize ();
 	lambda_max = rayDir.dot(rayTarget-raySource);
@@ -558,7 +557,6 @@ void	btQuantizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback*
 	btScalar lambda_max = 1.0;
 
 #ifdef RAYAABB2
-	btVector3 rayFrom = raySource;
 	btVector3 rayDirection = (rayTarget-raySource);
 	rayDirection.normalize ();
 	lambda_max = rayDirection.dot(rayTarget-raySource);
@@ -817,12 +815,13 @@ void	btQuantizedBvh::assignInternalNodeFromLeafNode(int internalNode,int leafNod
 //PCK: include
 #include <new>
 
+#if 0
 //PCK: consts
 static const unsigned BVH_ALIGNMENT = 16;
 static const unsigned BVH_ALIGNMENT_MASK = BVH_ALIGNMENT-1;
 
 static const unsigned BVH_ALIGNMENT_BLOCKS = 2;
-
+#endif
 
 
 unsigned int btQuantizedBvh::getAlignmentSerializationPadding()
@@ -1146,3 +1145,4 @@ m_bulletVersion(BT_BULLET_VERSION)
 
 
 
+
diff --git a/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp b/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
index 30a400286..501e4b269 100644
--- a/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
+++ b/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
@@ -664,7 +664,7 @@ struct btSingleRayCallback : public btBroadphaseRayCallback
 		{
 			//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
 			//btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
-			
+#if 0
 #ifdef RECALCULATE_AABB
 			btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
 			collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax);
@@ -672,6 +672,7 @@ struct btSingleRayCallback : public btBroadphaseRayCallback
 			//getBroadphase()->getAabb(collisionObject->getBroadphaseHandle(),collisionObjectAabbMin,collisionObjectAabbMax);
 			const btVector3& collisionObjectAabbMin = collisionObject->getBroadphaseHandle()->m_aabbMin;
 			const btVector3& collisionObjectAabbMax = collisionObject->getBroadphaseHandle()->m_aabbMax;
+#endif
 #endif
 			//btScalar hitLambda = m_resultCallback.m_closestHitFraction;
 			//culling already done by broadphase
diff --git a/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp b/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
index b5f6035d7..46620e6ee 100644
--- a/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
+++ b/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
@@ -29,7 +29,6 @@ m_sharedManifold(ci.m_manifold)
 	m_ownsManifold = false;
 
 	btCollisionObject* colObj = m_isSwapped? body1 : body0;
-	btCollisionObject* otherObj = m_isSwapped? body0 : body1;
 	assert (colObj->getCollisionShape()->isCompound());
 	
 	btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
@@ -209,7 +208,6 @@ void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,bt
 	///note that we should actually recursively traverse all children, btCompoundShape can nested more then 1 level deep
 	///so we should add a 'refreshManifolds' in the btCollisionAlgorithm
 	{
-		int numChildren = m_childCollisionAlgorithms.size();
 		int i;
 		btManifoldArray manifoldArray;
 		for (i=0;i<m_childCollisionAlgorithms.size();i++)
@@ -341,3 +339,4 @@ btScalar	btCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject*
 }
 
 
+
diff --git a/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp b/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp
index 1e9688ca7..d08742bed 100644
--- a/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp
+++ b/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp
@@ -78,7 +78,7 @@ void btSphereSphereCollisionAlgorithm::processCollision (btCollisionObject* col0
 	}
 
 	///point on A (worldspace)
-	btVector3 pos0 = col0->getWorldTransform().getOrigin() - radius0 * normalOnSurfaceB;
+	///btVector3 pos0 = col0->getWorldTransform().getOrigin() - radius0 * normalOnSurfaceB;
 	///point on B (worldspace)
 	btVector3 pos1 = col1->getWorldTransform().getOrigin() + radius1* normalOnSurfaceB;
 
diff --git a/src/BulletCollision/CollisionShapes/btConvexShape.cpp b/src/BulletCollision/CollisionShapes/btConvexShape.cpp
index bfb256dcf..7e67696f4 100644
--- a/src/BulletCollision/CollisionShapes/btConvexShape.cpp
+++ b/src/BulletCollision/CollisionShapes/btConvexShape.cpp
@@ -154,7 +154,6 @@ btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btV
 		btVector3 vec0(localDir.getX(),localDir.getY(),localDir.getZ());
 
 		btCapsuleShape* capsuleShape = (btCapsuleShape*)this;
-		btVector3 halfExtents = capsuleShape->getImplicitShapeDimensions();
 		btScalar halfHeight = capsuleShape->getHalfHeight();
 		int capsuleUpAxis = capsuleShape->getUpAxis();
 
@@ -301,8 +300,8 @@ void btConvexShape::getAabbNonVirtual (const btTransform& t, btVector3& aabbMin,
     case SPHERE_SHAPE_PROXYTYPE:
 	{
 		btSphereShape* sphereShape = (btSphereShape*)this;
-		float radius = sphereShape->getImplicitShapeDimensions().getX();// * convexShape->getLocalScaling().getX();
-		float margin = radius + sphereShape->getMarginNonVirtual();
+		btScalar radius = sphereShape->getImplicitShapeDimensions().getX();// * convexShape->getLocalScaling().getX();
+		btScalar margin = radius + sphereShape->getMarginNonVirtual();
 		const btVector3& center = t.getOrigin();
 		btVector3 extent(margin,margin,margin);
 		aabbMin = center - extent;
@@ -314,7 +313,7 @@ void btConvexShape::getAabbNonVirtual (const btTransform& t, btVector3& aabbMin,
 	case BOX_SHAPE_PROXYTYPE:
 	{
 		btBoxShape* convexShape = (btBoxShape*)this;
-		float margin=convexShape->getMarginNonVirtual();
+		btScalar margin=convexShape->getMarginNonVirtual();
 		btVector3 halfExtents = convexShape->getImplicitShapeDimensions();
 		halfExtents += btVector3(margin,margin,margin);
 		btMatrix3x3 abs_b = t.getBasis().absolute();  
@@ -377,4 +376,4 @@ void btConvexShape::getAabbNonVirtual (const btTransform& t, btVector3& aabbMin,
 
 	// should never reach here
 	btAssert (0);
-}
\ No newline at end of file
+}
diff --git a/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp b/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
index 9fa4203bd..cc5a04e82 100644
--- a/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
+++ b/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
@@ -238,7 +238,7 @@ void	btHeightfieldTerrainShape::getVertex(int x,int y,btVector3& vertex) const
 static inline int
 getQuantized
 (
-float x
+btScalar x
 )
 {
 	if (x < 0.0) {
diff --git a/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp b/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp
index b96282904..bf02039b9 100644
--- a/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp
+++ b/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp
@@ -82,7 +82,7 @@ bool	btTriangleIndexVertexArray::hasPremadeAabb() const
 	return (m_hasAabb == 1);
 }
 
-void	btTriangleIndexVertexArray::setPremadeAabb(const btVector3& aabbMin, const btVector3& aabbMax )
+void	btTriangleIndexVertexArray::setPremadeAabb(const btVector3& aabbMin, const btVector3& aabbMax ) const
 {
 	m_aabbMin = aabbMin;
 	m_aabbMax = aabbMax;
@@ -95,3 +95,4 @@ void	btTriangleIndexVertexArray::getPremadeAabb(btVector3* aabbMin, btVector3* a
 	*aabbMax = m_aabbMax;
 }
 
+
diff --git a/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h b/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h
index e546675f8..eb79ff5e4 100644
--- a/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h
+++ b/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h
@@ -52,9 +52,9 @@ ATTRIBUTE_ALIGNED16( class) btTriangleIndexVertexArray : public btStridingMeshIn
 protected:
 	IndexedMeshArray	m_indexedMeshes;
 	int m_pad[2];
-	int m_hasAabb; // using int instead of bool to maintain alignment
-	btVector3 m_aabbMin;
-	btVector3 m_aabbMax;
+	mutable int m_hasAabb; // using int instead of bool to maintain alignment
+	mutable btVector3 m_aabbMin;
+	mutable btVector3 m_aabbMax;
 
 public:
 
@@ -106,7 +106,7 @@ public:
 	virtual void	preallocateIndices(int numindices){(void) numindices;}
 
 	virtual bool	hasPremadeAabb() const;
-	virtual void	setPremadeAabb(const btVector3& aabbMin, const btVector3& aabbMax );
+	virtual void	setPremadeAabb(const btVector3& aabbMin, const btVector3& aabbMax ) const;
 	virtual void	getPremadeAabb(btVector3* aabbMin, btVector3* aabbMax ) const;
 
 }
diff --git a/src/BulletCollision/CollisionShapes/btTriangleMesh.cpp b/src/BulletCollision/CollisionShapes/btTriangleMesh.cpp
index 47d3232c7..9654b7fc1 100644
--- a/src/BulletCollision/CollisionShapes/btTriangleMesh.cpp
+++ b/src/BulletCollision/CollisionShapes/btTriangleMesh.cpp
@@ -111,9 +111,9 @@ int	btTriangleMesh::findOrAddVertex(const btVector3& vertex, bool removeDuplicat
 				}
 			}
 	}
-		m_3componentVertices.push_back(vertex.getX());
-		m_3componentVertices.push_back(vertex.getY());
-		m_3componentVertices.push_back(vertex.getZ());
+		m_3componentVertices.push_back((float)vertex.getX());
+		m_3componentVertices.push_back((float)vertex.getY());
+		m_3componentVertices.push_back((float)vertex.getZ());
 		m_indexedMeshes[0].m_numVertices++;
 		m_indexedMeshes[0].m_vertexBase = (unsigned char*)&m_3componentVertices[0];
 		return (m_3componentVertices.size()/3)-1;
diff --git a/src/BulletCollision/Gimpact/btGImpactShape.h b/src/BulletCollision/Gimpact/btGImpactShape.h
index 347422a16..05431cfce 100644
--- a/src/BulletCollision/Gimpact/btGImpactShape.h
+++ b/src/BulletCollision/Gimpact/btGImpactShape.h
@@ -1045,12 +1045,12 @@ public:
 	}
 
 	//! call when reading child shapes
-	virtual void lockChildShapes()
+	virtual void lockChildShapes() const
 	{
 		btAssert(0);
 	}
 
-	virtual void unlockChildShapes()
+	virtual void unlockChildShapes() const
 	{
 		btAssert(0);
 	}
diff --git a/src/BulletCollision/Gimpact/gim_box_set.cpp b/src/BulletCollision/Gimpact/gim_box_set.cpp
index 1ffc2bbad..79e77a5d9 100644
--- a/src/BulletCollision/Gimpact/gim_box_set.cpp
+++ b/src/BulletCollision/Gimpact/gim_box_set.cpp
@@ -110,8 +110,7 @@ GUINT GIM_BOX_TREE::_sort_and_calc_splitting_index(
 		splitIndex = startIndex+ (numIndices>>1);
 	}
 
-	bool unbal = (splitIndex==startIndex) || (splitIndex == (endIndex));
-	btAssert(!unbal);
+	btAssert(!(splitIndex==startIndex) || (splitIndex == (endIndex)));
 
 	return splitIndex;
 }
@@ -180,3 +179,4 @@ void GIM_BOX_TREE::build_tree(
 	_build_sub_tree(primitive_boxes, 0, primitive_boxes.size());
 }
 
+
diff --git a/src/BulletCollision/Gimpact/gim_math.h b/src/BulletCollision/Gimpact/gim_math.h
index 218c44369..8b9e6806e 100644
--- a/src/BulletCollision/Gimpact/gim_math.h
+++ b/src/BulletCollision/Gimpact/gim_math.h
@@ -107,7 +107,7 @@ enum GIM_SCALAR_TYPES
 ///returns a clamped number
 #define GIM_CLAMP(number,minval,maxval) (number<minval?minval:(number>maxval?maxval:number))
 
-#define GIM_GREATER(x, y)	fabsf(x) > (y)
+#define GIM_GREATER(x, y)	btFabs(x) > (y)
 
 ///Swap numbers
 #define GIM_SWAP_NUMBERS(a,b){ \
diff --git a/src/BulletCollision/Gimpact/gim_tri_collision.h b/src/BulletCollision/Gimpact/gim_tri_collision.h
index 360c6b2ff..2d6e43a1a 100644
--- a/src/BulletCollision/Gimpact/gim_tri_collision.h
+++ b/src/BulletCollision/Gimpact/gim_tri_collision.h
@@ -275,7 +275,7 @@ if 0.0<= u+v <=1.0 then they are inside of triangle
 		}
 		else
 		{
-			float sumuv;
+			btScalar sumuv;
 			sumuv = u+v;
 			if(sumuv<-G_EPSILON)
 			{