diff --git a/Extras/BulletRobotics/CMakeLists.txt b/Extras/BulletRobotics/CMakeLists.txt
index 0e1683360..ad37212a1 100644
--- a/Extras/BulletRobotics/CMakeLists.txt
+++ b/Extras/BulletRobotics/CMakeLists.txt
@@ -9,6 +9,7 @@ INCLUDE_DIRECTORIES(
 )
 
 SET(BulletRobotics_SRCS
+		../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp
 		../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp
 		../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h
 		../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp
diff --git a/Extras/BulletRobotics/premake4.lua b/Extras/BulletRobotics/premake4.lua
index b1e942ce5..deb4a869a 100644
--- a/Extras/BulletRobotics/premake4.lua
+++ b/Extras/BulletRobotics/premake4.lua
@@ -81,6 +81,7 @@ if not _OPTIONS["no-enet"] then
 
 
 		files {
+		"../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp",
 		"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp",
 		"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h",
 		"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp",
diff --git a/examples/ExampleBrowser/CMakeLists.txt b/examples/ExampleBrowser/CMakeLists.txt
index 2677f2fe3..331bb1900 100644
--- a/examples/ExampleBrowser/CMakeLists.txt
+++ b/examples/ExampleBrowser/CMakeLists.txt
@@ -145,6 +145,8 @@ SET(BulletExampleBrowser_SRCS
 	../TinyRenderer/tgaimage.cpp
 	../TinyRenderer/our_gl.cpp
 	../TinyRenderer/TinyRenderer.cpp
+	../SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp
+	../SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.h
 	../SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp
 	../SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h
 	../SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
diff --git a/examples/ExampleBrowser/premake4.lua b/examples/ExampleBrowser/premake4.lua
index 1e5eea67a..1ed5e0965 100644
--- a/examples/ExampleBrowser/premake4.lua
+++ b/examples/ExampleBrowser/premake4.lua
@@ -115,6 +115,7 @@ project "App_BulletExampleBrowser"
 		"../SharedMemory/PhysicsServerCommandProcessor.cpp",
 		"../SharedMemory/PhysicsServerCommandProcessor.h",
 		"../SharedMemory/b3PluginManager.cpp",		
+		"../SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp",
 		"../SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp",
 		"../SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
 		"../SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp",
diff --git a/examples/SharedMemory/CMakeLists.txt b/examples/SharedMemory/CMakeLists.txt
index 2d126396d..7bc68ab2b 100644
--- a/examples/SharedMemory/CMakeLists.txt
+++ b/examples/SharedMemory/CMakeLists.txt
@@ -1,5 +1,7 @@
 
 SET(SharedMemory_SRCS
+	plugins/collisionFilterPlugin/collisionFilterPlugin.cpp
+	plugins/collisionFilterPlugin/collisionFilterPlugin.h
 	plugins/pdControlPlugin/pdControlPlugin.cpp
 	plugins/pdControlPlugin/pdControlPlugin.h
 	b3RobotSimulatorClientAPI_NoDirect.cpp
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index e95d597fa..adaed8fbc 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -46,6 +46,10 @@
 #include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
 #include "LinearMath/TaskScheduler/btThreadSupportInterface.h"
 
+#ifndef SKIP_COLLISION_FILTER_PLUGIN
+#include "plugins/collisionFilterPlugin/collisionFilterPlugin.h"
+#endif
+
 #ifndef SKIP_STATIC_PD_CONTROL_PLUGIN
 #include "plugins/pdControlPlugin/pdControlPlugin.h"
 #endif //SKIP_STATIC_PD_CONTROL_PLUGIN
@@ -1625,6 +1629,8 @@ struct PhysicsServerCommandProcessorInternalData
 	btScalar m_oldPickingDist;
 	bool m_prevCanSleep;
 	int m_pdControlPlugin;
+	int m_collisionFilterPlugin;
+
 #ifdef B3_ENABLE_TINY_AUDIO
 	b3SoundEngine m_soundEngine;
 #endif
@@ -1662,6 +1668,7 @@ struct PhysicsServerCommandProcessorInternalData
 		m_pickedConstraint(0),
 		m_pickingMultiBodyPoint2Point(0),
 		m_pdControlPlugin(-1),
+		m_collisionFilterPlugin(-1),
 		m_threadPool(0)
 	{
 
@@ -1677,6 +1684,11 @@ struct PhysicsServerCommandProcessorInternalData
 		}
 #endif //SKIP_STATIC_PD_CONTROL_PLUGIN
 
+#ifndef SKIP_COLLISION_FILTER_PLUGIN
+	{
+		m_collisionFilterPlugin = m_pluginManager.registerStaticLinkedPlugin("collisionFilterPlugin", initPlugin_collisionFilterPlugin, exitPlugin_collisionFilterPlugin, executePluginCommand_collisionFilterPlugin, 0,0,0);
+	}
+#endif
 
 #ifndef SKIP_STATIC_TINYRENDERER_PLUGIN
 			int renderPluginId = m_pluginManager.registerStaticLinkedPlugin("tinyRendererPlugin", initPlugin_tinyRendererPlugin, exitPlugin_tinyRendererPlugin, executePluginCommand_tinyRendererPlugin,0,0,getRenderInterface_tinyRendererPlugin);
diff --git a/examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp b/examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp
index d61937271..6e962470f 100644
--- a/examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp
+++ b/examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp
@@ -8,22 +8,22 @@
 #include "../b3PluginContext.h"
 #include <stdio.h>
 
-struct MyClass
+struct CollisionFilterMyClass
 {
 	int m_testData;
 
-	MyClass()
+	CollisionFilterMyClass()
 		:m_testData(42)
 	{
 	}
-	virtual ~MyClass()
+	virtual ~CollisionFilterMyClass()
 	{
 	}
 };
 
-B3_SHARED_API int initPlugin_testPlugin(struct b3PluginContext* context)
+B3_SHARED_API int initPlugin_collisionFilterPlugin(struct b3PluginContext* context)
 {
-	MyClass* obj = new MyClass();
+	CollisionFilterMyClass* obj = new CollisionFilterMyClass();
 	context->m_userPointer = obj;
 
 	printf("hi!\n");
@@ -31,21 +31,21 @@ B3_SHARED_API int initPlugin_testPlugin(struct b3PluginContext* context)
 }
 
 
-B3_SHARED_API int preTickPluginCallback_testPlugin(struct b3PluginContext* context)
+B3_SHARED_API int preTickPluginCallback_collisionFilterPlugin(struct b3PluginContext* context)
 {
 	//apply pd control here, apply forces using the PD gains
 	return 0;
 }
 
 
-B3_SHARED_API int postTickPluginCallback_testPlugin(struct b3PluginContext* context)
+B3_SHARED_API int postTickPluginCallback_collisionFilterPlugin(struct b3PluginContext* context)
 {
-	MyClass* obj = (MyClass* )context->m_userPointer;
+	CollisionFilterMyClass* obj = (CollisionFilterMyClass* )context->m_userPointer;
 	obj->m_testData++;
 	return 0;
 }
 
-B3_SHARED_API int executePluginCommand_testPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments)
+B3_SHARED_API int executePluginCommand_collisionFilterPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments)
 {
 	//set the PD gains
 	printf("text argument:%s\n",arguments->m_text);
@@ -69,7 +69,7 @@ B3_SHARED_API int executePluginCommand_testPlugin(struct b3PluginContext* contex
 	}
 	printf("]\n");
 
-	MyClass* obj = (MyClass*) context->m_userPointer;
+	CollisionFilterMyClass* obj = (CollisionFilterMyClass*) context->m_userPointer;
 	
 	b3SharedMemoryStatusHandle statusHandle;
 	int statusType = -1;
@@ -88,9 +88,9 @@ B3_SHARED_API int executePluginCommand_testPlugin(struct b3PluginContext* contex
 }
 
 
-B3_SHARED_API void exitPlugin_testPlugin(struct b3PluginContext* context)
+B3_SHARED_API void exitPlugin_collisionFilterPlugin(struct b3PluginContext* context)
 {
-	MyClass* obj = (MyClass*) context->m_userPointer;
+	CollisionFilterMyClass* obj = (CollisionFilterMyClass*) context->m_userPointer;
 	delete obj;
 	context->m_userPointer = 0;
 
diff --git a/examples/SharedMemory/premake4.lua b/examples/SharedMemory/premake4.lua
index be66e7e42..6330786cf 100644
--- a/examples/SharedMemory/premake4.lua
+++ b/examples/SharedMemory/premake4.lua
@@ -60,6 +60,7 @@ myfiles =
 	"PhysicsServerCommandProcessor.h",
 	"b3PluginManager.cpp",
 	"b3PluginManager.h",
+	"plugins/collisionFilterPlugin/collisionFilterPlugin.cpp",
 	"plugins/pdControlPlugin/pdControlPlugin.cpp",
 	"plugins/pdControlPlugin/pdControlPlugin.h",
 	"../OpenGLWindow/SimpleCamera.cpp",
@@ -472,4 +473,3 @@ include "plugins/tinyRendererPlugin"
 include "plugins/pdControlPlugin"
 include "plugins/collisionFilterPlugin"
 
-
diff --git a/examples/SharedMemory/tcp/premake4.lua b/examples/SharedMemory/tcp/premake4.lua
index a4879953d..ac96b300e 100644
--- a/examples/SharedMemory/tcp/premake4.lua
+++ b/examples/SharedMemory/tcp/premake4.lua
@@ -93,6 +93,7 @@ myfiles =
 	"../PhysicsDirect.cpp",
 	"../PhysicsClientC_API.cpp",
 	"../PhysicsClient.cpp",
+	"../plugins/collisionFilterPlugin/collisionFilterPlugin.cpp",
 	"../plugins/pdControlPlugin/pdControlPlugin.cpp",
 	"../plugins/pdControlPlugin/pdControlPlugin.h",
 	"../b3RobotSimulatorClientAPI_NoDirect.cpp",
diff --git a/examples/SharedMemory/udp/premake4.lua b/examples/SharedMemory/udp/premake4.lua
index f9b7f8c4b..f0d046c0d 100644
--- a/examples/SharedMemory/udp/premake4.lua
+++ b/examples/SharedMemory/udp/premake4.lua
@@ -77,6 +77,7 @@ language "C++"
 
 myfiles = 
 {
+	"../plugins/collisionFilterPlugin/collisionFilterPlugin.cpp",
 	"../plugins/pdControlPlugin/pdControlPlugin.cpp",
 	"../plugins/pdControlPlugin/pdControlPlugin.h",
 	"../b3RobotSimulatorClientAPI_NoDirect.cpp",
diff --git a/examples/TwoJoint/CMakeLists.txt b/examples/TwoJoint/CMakeLists.txt
index 966b5e2a6..a596ab404 100644
--- a/examples/TwoJoint/CMakeLists.txt
+++ b/examples/TwoJoint/CMakeLists.txt
@@ -10,6 +10,7 @@ INCLUDE_DIRECTORIES(
 
 SET(RobotSimulator_SRCS
 		TwoJointMain.cpp
+		../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp
 		../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp
 		../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h
 		../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
diff --git a/examples/Utils/ChromeTraceUtil.cpp b/examples/Utils/ChromeTraceUtil.cpp
index fefa9171c..9027b4202 100644
--- a/examples/Utils/ChromeTraceUtil.cpp
+++ b/examples/Utils/ChromeTraceUtil.cpp
@@ -4,6 +4,7 @@
 #include "LinearMath/btQuickprof.h"
 #include "LinearMath/btAlignedObjectArray.h"
 #include "Bullet3Common/b3Logging.h"
+#include <stdio.h>
 
 struct btTiming
 {
@@ -155,13 +156,13 @@ struct btTimings
 	int m_activeBuffer;
 	btAlignedObjectArray<btTiming> m_timings[1];
 };
-#ifndef BT_NO_PROFILE
+//#ifndef BT_NO_PROFILE
 btTimings gTimings[BT_QUICKPROF_MAX_THREAD_COUNT];
 #define MAX_NESTING 1024
 int gStackDepths[BT_QUICKPROF_MAX_THREAD_COUNT] = { 0 };
 const char* gFuncNames[BT_QUICKPROF_MAX_THREAD_COUNT][MAX_NESTING];
 unsigned long long int gStartTimes[BT_QUICKPROF_MAX_THREAD_COUNT][MAX_NESTING];
-#endif
+//#endif
 
 btClock clk;
 
@@ -276,4 +277,4 @@ void b3ChromeUtilsStopTimingsAndWriteJsonFile(const char* fileNamePrefix)
 void b3ChromeUtilsEnableProfiling()
 {
 	gProfileDisabled = false;
-}
\ No newline at end of file
+}
diff --git a/examples/pybullet/CMakeLists.txt b/examples/pybullet/CMakeLists.txt
index d01ad1655..f3cacc5b3 100644
--- a/examples/pybullet/CMakeLists.txt
+++ b/examples/pybullet/CMakeLists.txt
@@ -15,6 +15,7 @@ ENDIF()
 
 SET(pybullet_SRCS
 	pybullet.c
+		../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp
 		../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp
 		../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h
 		../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
diff --git a/setup.py b/setup.py
index cfb5f5b8e..cfea0b36b 100644
--- a/setup.py
+++ b/setup.py
@@ -50,6 +50,7 @@ sources = ["examples/pybullet/pybullet.c"]\
 +["examples/TinyRenderer/our_gl.cpp"]\
 +["examples/TinyRenderer/TinyRenderer.cpp"]\
 +["examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp"]\
++["examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp"]\
 +["examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp"]\
 +["examples/SharedMemory/IKTrajectoryHelper.cpp"]\
 +["examples/SharedMemory/InProcessMemory.cpp"]\
diff --git a/src/LinearMath/btQuickprof.h b/src/LinearMath/btQuickprof.h
index 7b38d71b9..e3afc5a80 100644
--- a/src/LinearMath/btQuickprof.h
+++ b/src/LinearMath/btQuickprof.h
@@ -65,16 +65,19 @@ btLeaveProfileZoneFunc* btGetCurrentLeaveProfileZoneFunc();
 void btSetCustomEnterProfileZoneFunc(btEnterProfileZoneFunc* enterFunc);
 void btSetCustomLeaveProfileZoneFunc(btLeaveProfileZoneFunc* leaveFunc);
 
-#ifndef BT_NO_PROFILE // FIX redefinition
+#ifndef BT_ENABLE_PROFILE
 //To disable built-in profiling, please comment out next line
-//#define BT_NO_PROFILE 1
+#ifndef BT_NO_PROFILE
+#define BT_NO_PROFILE 1
 #endif //BT_NO_PROFILE
+#endif //BT_ENABLE_PROFILE
+
+const unsigned int BT_QUICKPROF_MAX_THREAD_COUNT = 64;
 
 #ifndef BT_NO_PROFILE
 //btQuickprofGetCurrentThreadIndex will return -1 if thread index cannot be determined, 
 //otherwise returns thread index in range [0..maxThreads]
 unsigned int btQuickprofGetCurrentThreadIndex2();
-const unsigned int BT_QUICKPROF_MAX_THREAD_COUNT = 64;
 
 #include <stdio.h>//@todo remove this, backwards compatibility
 
diff --git a/test/SharedMemory/CMakeLists.txt b/test/SharedMemory/CMakeLists.txt
index 78746108b..5835d1991 100644
--- a/test/SharedMemory/CMakeLists.txt
+++ b/test/SharedMemory/CMakeLists.txt
@@ -29,6 +29,7 @@ ENDIF()
 	ADD_EXECUTABLE(Test_PhysicsClientServer
 		gtestwrap.cpp
 		../../examples/SharedMemory/PhysicsClient.cpp
+		../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp
 		../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp
 		../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h
 		../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
diff --git a/test/SharedMemory/premake4.lua b/test/SharedMemory/premake4.lua
index f51f77e04..01676802e 100644
--- a/test/SharedMemory/premake4.lua
+++ b/test/SharedMemory/premake4.lua
@@ -172,6 +172,7 @@ project ("Test_PhysicsServerLoopBack")
 			"test.c",
 			"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp",
 			"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h",
+			"../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp",
 			"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp",
 			"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h",
 			"../../examples/SharedMemory/IKTrajectoryHelper.cpp",
@@ -264,6 +265,7 @@ end
 			"test.c",
 			"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp",
 			"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h",
+			"../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp",
 			"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp",
 			"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h",
 			"../../examples/SharedMemory/IKTrajectoryHelper.cpp",
@@ -372,6 +374,7 @@ project ("Test_PhysicsServerInProcessExampleBrowser")
 			"test.c",
 			"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp",
 			"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h",
+			"../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp",
 			"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp",
 			"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h",
 			"../../examples/SharedMemory/IKTrajectoryHelper.cpp",