diff --git a/CMakeLists.txt b/CMakeLists.txt
index 528b667b8..add6c6a5e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,59 +1,69 @@
-cmake_minimum_required(VERSION 2.4)
-
-PROJECT(BULLET_PHYSICS)
-
-IF (NOT CMAKE_BUILD_TYPE)
- SET(CMAKE_BUILD_TYPE "Debug")
-ENDIF (NOT CMAKE_BUILD_TYPE) 
-
- 
-  
-IF(COMMAND cmake_policy)
-   cmake_policy(SET CMP0003 NEW)
-ENDIF(COMMAND cmake_policy)
-   
-
-# This is the shortcut to finding GLU, GLUT and OpenGL if they are properly installed on your system
-# This should be the case.
-
-FIND_PACKAGE(OpenGL)
-IF (OPENGL_FOUND)
-MESSAGE("OPENGL FOUND")
-MESSAGE(${OPENGL_LIBRARIES})
-ELSE (OPENGL_FOUND)
-MESSAGE("OPENGL NOT FOUND")
-SET(OPENGL_gl_LIBRARY opengl32)
-SET(OPENGL_glu_LIBRARY glu32)
-ENDIF (OPENGL_FOUND)
-
-# ADD_DEFINITIONS(-DBT_USE_FREEGLUT)
-
-FIND_PACKAGE(GLU)
-
-FIND_PACKAGE(GLUT)
-IF (GLUT_FOUND)
-MESSAGE("GLUT FOUND")
-MESSAGE(${GLUT_glut_LIBRARY})
-ELSE (GLUT_FOUND)
-
-IF (MINGW)
-MESSAGE ("GLUT NOT FOUND not found, trying to use MINGW glut32")
-SET(GLUT_glut_LIBRARY glut32)
-ENDIF (MINGW)
-
-IF (MSVC)
-MESSAGE ("GLUT NOT FOUND, trying to use Bullet/Glut/glut32.lib for MSVC")
-SET(GLUT_glut_LIBRARY ${BULLET_PHYSICS_SOURCE_DIR}/Glut/glut32.lib)
-ENDIF (MSVC)
-ENDIF (GLUT_FOUND)
-
-
-IF (WIN32)
-  INCLUDE_DIRECTORIES(${BULLET_PHYSICS_SOURCE_DIR}/Glut)
-ELSE (WIN32)
-  # This is the lines for linux.  This should always work if everything is installed and working fine.
-  INCLUDE_DIRECTORIES(/usr/include /usr/local/include ${GLUT_INCLUDE_DIR}) 
-ENDIF (WIN32)
-
-
-SUBDIRS(src Demos Extras)
+cmake_minimum_required(VERSION 2.4)
+
+PROJECT(BULLET_PHYSICS)
+
+IF (NOT CMAKE_BUILD_TYPE)
+ SET(CMAKE_BUILD_TYPE "Debug")
+ENDIF (NOT CMAKE_BUILD_TYPE) 
+
+ 
+  
+IF(COMMAND cmake_policy)
+   cmake_policy(SET CMP0003 NEW)
+ENDIF(COMMAND cmake_policy)
+   
+
+# This is the shortcut to finding GLU, GLUT and OpenGL if they are properly installed on your system
+# This should be the case.
+
+FIND_PACKAGE(OpenGL)
+IF (OPENGL_FOUND)
+MESSAGE("OPENGL FOUND")
+MESSAGE(${OPENGL_LIBRARIES})
+ELSE (OPENGL_FOUND)
+MESSAGE("OPENGL NOT FOUND")
+SET(OPENGL_gl_LIBRARY opengl32)
+SET(OPENGL_glu_LIBRARY glu32)
+ENDIF (OPENGL_FOUND)
+
+# ADD_DEFINITIONS(-DBT_USE_FREEGLUT)
+
+FIND_PACKAGE(GLU)
+
+FIND_PACKAGE(GLUT)
+IF (GLUT_FOUND)
+MESSAGE("GLUT FOUND")
+MESSAGE(${GLUT_glut_LIBRARY})
+ELSE (GLUT_FOUND)
+
+IF (MINGW)
+MESSAGE ("GLUT NOT FOUND not found, trying to use MINGW glut32")
+SET(GLUT_glut_LIBRARY glut32)
+ENDIF (MINGW)
+
+IF (MSVC)
+MESSAGE ("GLUT NOT FOUND, trying to use Bullet/Glut/glut32.lib for MSVC")
+SET(GLUT_glut_LIBRARY ${BULLET_PHYSICS_SOURCE_DIR}/Glut/glut32.lib)
+ENDIF (MSVC)
+ENDIF (GLUT_FOUND)
+
+
+IF (WIN32)
+  INCLUDE_DIRECTORIES(${BULLET_PHYSICS_SOURCE_DIR}/Glut)
+ELSE (WIN32)
+  # This is the lines for linux.  This should always work if everything is installed and working fine.
+  INCLUDE_DIRECTORIES(/usr/include /usr/local/include ${GLUT_INCLUDE_DIR}) 
+ENDIF (WIN32)
+
+
+OPTION(BUILD_DEMOS "Set when you want to build the demos" ON)
+IF(BUILD_DEMOS)
+  SUBDIRS(Demos)
+ENDIF(BUILD_DEMOS)
+
+OPTION(BUILD_EXTRAS "Set when you want to build the extras" ON)
+IF(BUILD_EXTRAS)
+  SUBDIRS(Extras)
+ENDIF(BUILD_EXTRAS)
+
+SUBDIRS(src)
diff --git a/src/BulletCollision/CMakeLists.txt b/src/BulletCollision/CMakeLists.txt
index 331061d7d..f079fb771 100644
--- a/src/BulletCollision/CMakeLists.txt
+++ b/src/BulletCollision/CMakeLists.txt
@@ -1,135 +1,70 @@
-			
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src }
 )
-	
-ADD_LIBRARY(LibBulletCollision
+
+SET(LibBulletCollision_SRCS
 				BroadphaseCollision/btAxisSweep3.cpp
-				BroadphaseCollision/btAxisSweep3.h
 				BroadphaseCollision/btBroadphaseProxy.cpp
-				BroadphaseCollision/btBroadphaseProxy.h
 				BroadphaseCollision/btCollisionAlgorithm.cpp
-				BroadphaseCollision/btCollisionAlgorithm.h
 				BroadphaseCollision/btDispatcher.cpp
-				BroadphaseCollision/btDispatcher.h
 				BroadphaseCollision/btDbvtBroadphase.cpp
-				BroadphaseCollision/btDbvtBroadphase.h
 				BroadphaseCollision/btDbvt.cpp
-				BroadphaseCollision/btDbvt.h
 				BroadphaseCollision/btMultiSapBroadphase.cpp
-				BroadphaseCollision/btMultiSapBroadphase.h
 				BroadphaseCollision/btOverlappingPairCache.cpp
-				BroadphaseCollision/btOverlappingPairCache.h
-				BroadphaseCollision/btOverlappingPairCallback.h
 				BroadphaseCollision/btQuantizedBvh.cpp
-				BroadphaseCollision/btQuantizedBvh.h
 				BroadphaseCollision/btSimpleBroadphase.cpp
-				BroadphaseCollision/btSimpleBroadphase.h
 				CollisionDispatch/btCollisionDispatcher.cpp
-				CollisionDispatch/btCollisionDispatcher.h
 				CollisionDispatch/btCollisionObject.cpp
-				CollisionDispatch/btCollisionObject.h
 				CollisionDispatch/btCollisionWorld.cpp
-				CollisionDispatch/btCollisionWorld.h
 				CollisionDispatch/btCompoundCollisionAlgorithm.cpp
-				CollisionDispatch/btCompoundCollisionAlgorithm.h
 				CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
-				CollisionDispatch/btConvexConcaveCollisionAlgorithm.h
 				CollisionDispatch/btDefaultCollisionConfiguration.cpp
-				CollisionDispatch/btDefaultCollisionConfiguration.h
 				CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp
-				CollisionDispatch/btSphereSphereCollisionAlgorithm.h
 				CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp
-				CollisionDispatch/btBoxBoxCollisionAlgorithm.h
 				CollisionDispatch/btBoxBoxDetector.cpp
-				CollisionDispatch/btBoxBoxDetector.h
 				CollisionDispatch/btGhostObject.cpp
-				CollisionDispatch/btGhostObject.h
 				CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
-				CollisionDispatch/btSphereBoxCollisionAlgorithm.h
 				CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
-				CollisionDispatch/btConvexPlaneCollisionAlgorithm.h
 				CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp
-				CollisionDispatch/btSphereTriangleCollisionAlgorithm.h
 				CollisionDispatch/btConvexConvexAlgorithm.cpp
-				CollisionDispatch/btConvexConvexAlgorithm.h
 				CollisionDispatch/btEmptyCollisionAlgorithm.cpp
-				CollisionDispatch/btEmptyCollisionAlgorithm.h
 				CollisionDispatch/btManifoldResult.cpp
-				CollisionDispatch/btManifoldResult.h
 				CollisionDispatch/btSimulationIslandManager.cpp
-				CollisionDispatch/btSimulationIslandManager.h
 				CollisionDispatch/btUnionFind.cpp
-				CollisionDispatch/btUnionFind.h
 				CollisionDispatch/SphereTriangleDetector.cpp
-				CollisionDispatch/SphereTriangleDetector.h
 				CollisionShapes/btBoxShape.cpp
-				CollisionShapes/btBoxShape.h
 				CollisionShapes/btBvhTriangleMeshShape.cpp
-				CollisionShapes/btBvhTriangleMeshShape.h
 				CollisionShapes/btCapsuleShape.cpp
-				CollisionShapes/btCapsuleShape.h
 				CollisionShapes/btCollisionShape.cpp
-				CollisionShapes/btCollisionShape.h
 				CollisionShapes/btCompoundShape.cpp
-				CollisionShapes/btCompoundShape.h
 				CollisionShapes/btConcaveShape.cpp
-				CollisionShapes/btConcaveShape.h
 				CollisionShapes/btConeShape.cpp
-				CollisionShapes/btConeShape.h
 				CollisionShapes/btConvexHullShape.cpp
-				CollisionShapes/btConvexHullShape.h
 				CollisionShapes/btConvexPointCloudShape.cpp
-				CollisionShapes/btConvexPointCloudShape.h
 				CollisionShapes/btConvexShape.cpp
-				CollisionShapes/btConvexShape.h
 				CollisionShapes/btConvexInternalShape.cpp
-				CollisionShapes/btConvexInternalShape.h
 				CollisionShapes/btConvexTriangleMeshShape.cpp
-				CollisionShapes/btConvexTriangleMeshShape.h
 				CollisionShapes/btCylinderShape.cpp
-				CollisionShapes/btCylinderShape.h
 				CollisionShapes/btEmptyShape.cpp
-				CollisionShapes/btEmptyShape.h
 				CollisionShapes/btHeightfieldTerrainShape.cpp
-				CollisionShapes/btHeightfieldTerrainShape.h
 				CollisionShapes/btMinkowskiSumShape.cpp
-				CollisionShapes/btMinkowskiSumShape.h
-				CollisionShapes/btMaterial.h
 				CollisionShapes/btMultimaterialTriangleMeshShape.cpp
-				CollisionShapes/btMultimaterialTriangleMeshShape.h
 				CollisionShapes/btMultiSphereShape.cpp
-				CollisionShapes/btMultiSphereShape.h
 				CollisionShapes/btOptimizedBvh.cpp
-				CollisionShapes/btOptimizedBvh.h
 				CollisionShapes/btPolyhedralConvexShape.cpp
-				CollisionShapes/btPolyhedralConvexShape.h
 				CollisionShapes/btScaledBvhTriangleMeshShape.cpp
-				CollisionShapes/btScaledBvhTriangleMeshShape.h
 				CollisionShapes/btTetrahedronShape.cpp
-				CollisionShapes/btTetrahedronShape.h
 				CollisionShapes/btSphereShape.cpp
-				CollisionShapes/btSphereShape.h
-				CollisionShapes/btShapeHull.h
 				CollisionShapes/btShapeHull.cpp
 				CollisionShapes/btStaticPlaneShape.cpp
-				CollisionShapes/btStaticPlaneShape.h
 				CollisionShapes/btStridingMeshInterface.cpp
-				CollisionShapes/btStridingMeshInterface.h
 				CollisionShapes/btTriangleCallback.cpp
-				CollisionShapes/btTriangleCallback.h
 				CollisionShapes/btTriangleBuffer.cpp
-				CollisionShapes/btTriangleBuffer.h
 				CollisionShapes/btTriangleIndexVertexArray.cpp
-				CollisionShapes/btTriangleIndexVertexArray.h
-				CollisionShapes/btTriangleIndexVertexMaterialArray.h
 				CollisionShapes/btTriangleIndexVertexMaterialArray.cpp
 				CollisionShapes/btTriangleMesh.cpp
-				CollisionShapes/btTriangleMesh.h
 				CollisionShapes/btTriangleMeshShape.cpp
-				CollisionShapes/btTriangleMeshShape.h
 				CollisionShapes/btUniformScalingShape.cpp
-				CollisionShapes/btUniformScalingShape.h
 				Gimpact/btContactProcessing.cpp
 				Gimpact/btGImpactShape.cpp
 				Gimpact/gim_contact.cpp
@@ -142,25 +77,109 @@ ADD_LIBRARY(LibBulletCollision
 				Gimpact/btGImpactQuantizedBvh.cpp
 				Gimpact/gim_box_set.cpp
 				NarrowPhaseCollision/btContinuousConvexCollision.cpp
-				NarrowPhaseCollision/btContinuousConvexCollision.h
 				NarrowPhaseCollision/btGjkEpa2.cpp
-				NarrowPhaseCollision/btGjkEpa2.h
 				NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
-				NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h
 				NarrowPhaseCollision/btConvexCast.cpp
-				NarrowPhaseCollision/btConvexCast.h
 				NarrowPhaseCollision/btGjkConvexCast.cpp
-				NarrowPhaseCollision/btGjkConvexCast.h
 				NarrowPhaseCollision/btGjkPairDetector.cpp
-				NarrowPhaseCollision/btGjkPairDetector.h
 				NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
-				NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h
 				NarrowPhaseCollision/btPersistentManifold.cpp
-				NarrowPhaseCollision/btPersistentManifold.h
 				NarrowPhaseCollision/btRaycastCallback.cpp
-				NarrowPhaseCollision/btRaycastCallback.h
 				NarrowPhaseCollision/btSubSimplexConvexCast.cpp
-				NarrowPhaseCollision/btSubSimplexConvexCast.h
 				NarrowPhaseCollision/btVoronoiSimplexSolver.cpp
+)
+
+SET(LibBulletCollision_HDRS
+				BroadphaseCollision/btAxisSweep3.h
+				BroadphaseCollision/btBroadphaseProxy.h
+				BroadphaseCollision/btCollisionAlgorithm.h
+				BroadphaseCollision/btDispatcher.h
+				BroadphaseCollision/btDbvtBroadphase.h
+				BroadphaseCollision/btDbvt.h
+				BroadphaseCollision/btMultiSapBroadphase.h
+				BroadphaseCollision/btOverlappingPairCache.h
+				BroadphaseCollision/btOverlappingPairCallback.h
+				BroadphaseCollision/btQuantizedBvh.h
+				BroadphaseCollision/btSimpleBroadphase.h
+				CollisionDispatch/btCollisionDispatcher.h
+				CollisionDispatch/btCollisionObject.h
+				CollisionDispatch/btCollisionWorld.h
+				CollisionDispatch/btCompoundCollisionAlgorithm.h
+				CollisionDispatch/btConvexConcaveCollisionAlgorithm.h
+				CollisionDispatch/btDefaultCollisionConfiguration.h
+				CollisionDispatch/btSphereSphereCollisionAlgorithm.h
+				CollisionDispatch/btBoxBoxCollisionAlgorithm.h
+				CollisionDispatch/btBoxBoxDetector.h
+				CollisionDispatch/btGhostObject.h
+				CollisionDispatch/btSphereBoxCollisionAlgorithm.h
+				CollisionDispatch/btConvexPlaneCollisionAlgorithm.h
+				CollisionDispatch/btSphereTriangleCollisionAlgorithm.h
+				CollisionDispatch/btConvexConvexAlgorithm.h
+				CollisionDispatch/btEmptyCollisionAlgorithm.h
+				CollisionDispatch/btManifoldResult.h
+				CollisionDispatch/btSimulationIslandManager.h
+				CollisionDispatch/btUnionFind.h
+				CollisionDispatch/SphereTriangleDetector.h
+				CollisionShapes/btBoxShape.h
+				CollisionShapes/btBvhTriangleMeshShape.h
+				CollisionShapes/btCapsuleShape.h
+				CollisionShapes/btCollisionShape.h
+				CollisionShapes/btCompoundShape.h
+				CollisionShapes/btConcaveShape.h
+				CollisionShapes/btConeShape.h
+				CollisionShapes/btConvexHullShape.h
+				CollisionShapes/btConvexPointCloudShape.h
+				CollisionShapes/btConvexShape.h
+				CollisionShapes/btConvexInternalShape.h
+				CollisionShapes/btConvexTriangleMeshShape.h
+				CollisionShapes/btCylinderShape.h
+				CollisionShapes/btEmptyShape.h
+				CollisionShapes/btHeightfieldTerrainShape.h
+				CollisionShapes/btMinkowskiSumShape.h
+				CollisionShapes/btMaterial.h
+				CollisionShapes/btMultimaterialTriangleMeshShape.h
+				CollisionShapes/btMultiSphereShape.h
+				CollisionShapes/btOptimizedBvh.h
+				CollisionShapes/btPolyhedralConvexShape.h
+				CollisionShapes/btScaledBvhTriangleMeshShape.h
+				CollisionShapes/btTetrahedronShape.h
+				CollisionShapes/btSphereShape.h
+				CollisionShapes/btShapeHull.h
+				CollisionShapes/btStaticPlaneShape.h
+				CollisionShapes/btStridingMeshInterface.h
+				CollisionShapes/btTriangleCallback.h
+				CollisionShapes/btTriangleBuffer.h
+				CollisionShapes/btTriangleIndexVertexArray.h
+				CollisionShapes/btTriangleIndexVertexMaterialArray.h
+				CollisionShapes/btTriangleMesh.h
+				CollisionShapes/btTriangleMeshShape.h
+				CollisionShapes/btUniformScalingShape.h
+				Gimpact/btGImpactShape.h
+				Gimpact/gim_contact.h
+				Gimpact/btGImpactBvh.h
+				Gimpact/btGenericPoolAllocator.h
+				Gimpact/gim_memory.h
+				Gimpact/btGImpactCollisionAlgorithm.h
+				Gimpact/btTriangleShapeEx.h
+				Gimpact/gim_tri_collision.h
+				Gimpact/btGImpactQuantizedBvh.h
+				Gimpact/gim_box_set.h
+				NarrowPhaseCollision/btContinuousConvexCollision.h
+				NarrowPhaseCollision/btContinuousConvexCollision.h
+				NarrowPhaseCollision/btGjkEpa2.h
+				NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h
+				NarrowPhaseCollision/btConvexCast.h
+				NarrowPhaseCollision/btGjkConvexCast.h
+				NarrowPhaseCollision/btGjkPairDetector.h
+				NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h
+				NarrowPhaseCollision/btPersistentManifold.h
+				NarrowPhaseCollision/btRaycastCallback.h
+				NarrowPhaseCollision/btSubSimplexConvexCast.h
 				NarrowPhaseCollision/btVoronoiSimplexSolver.h
 )
+
+#ADD_LIBRARY(LibBulletCollision SHARED ${LibBulletCollision_SRCS} ${LibBulletCollision_HDRS})
+ADD_LIBRARY(LibBulletCollision ${LibBulletCollision_SRCS} ${LibBulletCollision_HDRS})
+
+INSTALL(TARGETS LibBulletCollision DESTINATION lib)
+INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} DESTINATION include FILES_MATCHING PATTERN "*.h")
diff --git a/src/BulletDynamics/CMakeLists.txt b/src/BulletDynamics/CMakeLists.txt
index 58b023e97..3a1c13b63 100644
--- a/src/BulletDynamics/CMakeLists.txt
+++ b/src/BulletDynamics/CMakeLists.txt
@@ -2,35 +2,43 @@ INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src }
 )
 	
-ADD_LIBRARY(LibBulletDynamics
-
+SET(LibBulletDynamics_SRCS
 	ConstraintSolver/btContactConstraint.cpp
-	ConstraintSolver/btContactConstraint.h
 	ConstraintSolver/btConeTwistConstraint.cpp
-	ConstraintSolver/btConeTwistConstraint.h
 	ConstraintSolver/btGeneric6DofConstraint.cpp
-	ConstraintSolver/btGeneric6DofConstraint.h
 	ConstraintSolver/btHingeConstraint.cpp
-	ConstraintSolver/btHingeConstraint.h
 	ConstraintSolver/btPoint2PointConstraint.cpp
-	ConstraintSolver/btPoint2PointConstraint.h
 	ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
-	ConstraintSolver/btSequentialImpulseConstraintSolver.h
 	ConstraintSolver/btSliderConstraint.cpp
-	ConstraintSolver/btSliderConstraint.h
 	ConstraintSolver/btSolve2LinearConstraint.cpp
-	ConstraintSolver/btSolve2LinearConstraint.h
 	ConstraintSolver/btTypedConstraint.cpp
-	ConstraintSolver/btTypedConstraint.h
 	Dynamics/Bullet-C-API.cpp
 	Dynamics/btDiscreteDynamicsWorld.cpp
-	Dynamics/btDiscreteDynamicsWorld.h
 	Dynamics/btSimpleDynamicsWorld.cpp
-	Dynamics/btSimpleDynamicsWorld.h
 	Dynamics/btRigidBody.cpp
-	Dynamics/btRigidBody.h
 	Vehicle/btRaycastVehicle.cpp
-	Vehicle/btRaycastVehicle.h
 	Vehicle/btWheelInfo.cpp
+)
+
+SET(LibBulletDynamics_HDRS
+	ConstraintSolver/btContactConstraint.h
+	ConstraintSolver/btConeTwistConstraint.h
+	ConstraintSolver/btGeneric6DofConstraint.h
+	ConstraintSolver/btHingeConstraint.h
+	ConstraintSolver/btPoint2PointConstraint.h
+	ConstraintSolver/btSequentialImpulseConstraintSolver.h
+	ConstraintSolver/btSliderConstraint.h
+	ConstraintSolver/btSolve2LinearConstraint.h
+	ConstraintSolver/btTypedConstraint.h
+	Dynamics/btDiscreteDynamicsWorld.h
+	Dynamics/btSimpleDynamicsWorld.h
+	Dynamics/btRigidBody.h
+	Vehicle/btRaycastVehicle.h
 	Vehicle/btWheelInfo.h
 )
+
+#ADD_LIBRARY(LibBulletDynamics SHARED ${LibBulletDynamics_SRCS} ${LibBulletDynamics_HDRS})
+ADD_LIBRARY(LibBulletDynamics ${LibBulletDynamics_SRCS} ${LibBulletDynamics_HDRS})
+
+INSTALL(TARGETS LibBulletDynamics DESTINATION lib)
+INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} DESTINATION include FILES_MATCHING PATTERN "*.h")
diff --git a/src/BulletMultiThreaded/SpuRaycastTask/SpuSubSimplexConvexCast.cpp b/src/BulletMultiThreaded/SpuRaycastTask/SpuSubSimplexConvexCast.cpp
index 1cd2e983e..dacf7e16a 100644
--- a/src/BulletMultiThreaded/SpuRaycastTask/SpuSubSimplexConvexCast.cpp
+++ b/src/BulletMultiThreaded/SpuRaycastTask/SpuSubSimplexConvexCast.cpp
@@ -39,8 +39,8 @@ SpuSubsimplexRayCast::SpuSubsimplexRayCast (void* shapeB, SpuConvexPolyhedronVer
  * MSUM(Pellet, ConvexShape)
  *
  */
-void supportPoints (const btTransform xformRay,
-		    const btTransform xformB,
+void supportPoints (const btTransform& xformRay,
+		    const btTransform& xformB,
 		    const int shapeType,
 		    const void* shape,
 		    SpuConvexPolyhedronVertexData* convexVertexData,
diff --git a/src/BulletSoftBody/CMakeLists.txt b/src/BulletSoftBody/CMakeLists.txt
index a725e10ff..e3667ace0 100644
--- a/src/BulletSoftBody/CMakeLists.txt
+++ b/src/BulletSoftBody/CMakeLists.txt
@@ -3,19 +3,30 @@ INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src }
 )
 
-ADD_LIBRARY(LibBulletSoftBody
+SET(LibBulletSoftBody_SRCS
 	btSoftBody.cpp
-	btSoftBody.h
 	btSoftBodyHelpers.cpp
-	btSparseSDF.h
-	btSoftBodyHelpers.h
 	btSoftBodyRigidBodyCollisionConfiguration.cpp
 	btSoftRigidCollisionAlgorithm.cpp
-	btSoftRigidCollisionAlgorithm.h
 	btSoftSoftCollisionAlgorithm.cpp
-	btSoftSoftCollisionAlgorithm.h
 	btSoftBodyConcaveCollisionAlgorithm.cpp
-	btSoftBodyConcaveCollisionAlgorithm.h
-	btSoftRigidDynamicsWorld.h
 	btSoftRigidDynamicsWorld.cpp
 )
+
+SET(LibBulletSoftBody_HDRS
+	btSoftBody.h
+	btSparseSDF.h
+	btSoftBodyHelpers.h
+	btSoftRigidCollisionAlgorithm.h
+	btSoftSoftCollisionAlgorithm.h
+	btSoftBodyConcaveCollisionAlgorithm.h
+	btSoftRigidDynamicsWorld.h
+)
+
+
+#ADD_LIBRARY(LibBulletSoftBody SHARED ${LibBulletSoftBody_SRCS} ${LibBulletSoftBody_HDRS})
+ADD_LIBRARY(LibBulletSoftBody  ${LibBulletSoftBody_SRCS} ${LibBulletSoftBody_HDRS})
+
+INSTALL(TARGETS LibBulletSoftBody DESTINATION lib)
+INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} DESTINATION include FILES_MATCHING PATTERN "*.h")
+
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index e5c3c1904..698341d8f 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -3,3 +3,5 @@ SUBDIRS( BulletSoftBody BulletCollision BulletDynamics LinearMath )
 else (CMAKE_SIZEOF_VOID_P MATCHES "8")
 SUBDIRS( BulletMultiThreaded BulletSoftBody BulletCollision BulletDynamics LinearMath )
 endif (CMAKE_SIZEOF_VOID_P MATCHES "8")
+
+INSTALL(FILES btBulletCollisionCommon.h btBulletDynamicsCommon.h Bullet-C-Api.h DESTINATION include)
\ No newline at end of file
diff --git a/src/LinearMath/CMakeLists.txt b/src/LinearMath/CMakeLists.txt
index 643436575..a8a2ebb19 100644
--- a/src/LinearMath/CMakeLists.txt
+++ b/src/LinearMath/CMakeLists.txt
@@ -3,7 +3,14 @@ INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src }
 )
 
-ADD_LIBRARY(LibLinearMath
+SET(LibLinearMath_SRCS
+		btConvexHull.cpp
+		btQuickprof.cpp
+		btGeometryUtil.cpp
+		btAlignedAllocator.cpp
+)
+
+SET(LibLinearMath_HDRS
 		btAlignedObjectArray.h
 		btList.h
 		btPoolAllocator.h
@@ -16,7 +23,6 @@ ADD_LIBRARY(LibLinearMath
 		btScalar.h
 		btAabbUtil2.h
 		btConvexHull.h
-		btConvexHull.cpp
 		btMinMax.h
 		btQuaternion.h
 		btStackAlloc.h
@@ -27,8 +33,10 @@ ADD_LIBRARY(LibLinearMath
 		btIDebugDraw.h
 		btQuickprof.h
 		btTransformUtil.h
-		btQuickprof.cpp
-		btGeometryUtil.cpp
-		btAlignedAllocator.cpp
 )
 
+# ADD_LIBRARY(LibLinearMath SHARED ${LibLinearMath_SRCS} ${LibLinearMath_HDRS})
+ADD_LIBRARY(LibLinearMath ${LibLinearMath_SRCS} ${LibLinearMath_HDRS})
+
+INSTALL(TARGETS LibLinearMath DESTINATION lib)
+INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} DESTINATION include FILES_MATCHING PATTERN "*.h")
diff --git a/src/LinearMath/btMatrix3x3.h b/src/LinearMath/btMatrix3x3.h
index 8e499524e..c5f220b43 100644
--- a/src/LinearMath/btMatrix3x3.h
+++ b/src/LinearMath/btMatrix3x3.h
@@ -293,18 +293,18 @@ class btMatrix3x3 {
       euler_out2.yaw = 0;
 	
       // From difference of angles formula
-      double delta = btAtan2(m_el[0].x(),m_el[0].z());
+      btScalar delta = btAtan2(m_el[0].x(),m_el[0].z());
       if (m_el[2].x() > 0)  //gimbal locked up
       {
-        euler_out.pitch = SIMD_PI / 2.0;
-        euler_out2.pitch = SIMD_PI / 2.0;
+        euler_out.pitch = SIMD_PI / btScalar(2.0);
+        euler_out2.pitch = SIMD_PI / btScalar(2.0);
         euler_out.roll = euler_out.pitch + delta;
         euler_out2.roll = euler_out.pitch + delta;
       }
       else // gimbal locked down
       {
-        euler_out.pitch = -SIMD_PI / 2.0;
-        euler_out2.pitch = -SIMD_PI / 2.0;
+        euler_out.pitch = -SIMD_PI / btScalar(2.0);
+        euler_out2.pitch = -SIMD_PI / btScalar(2.0);
         euler_out.roll = -euler_out.pitch + delta;
         euler_out2.roll = -euler_out.pitch + delta;
       }
@@ -314,32 +314,29 @@ class btMatrix3x3 {
       euler_out.pitch = - btAsin(m_el[2].x());
       euler_out2.pitch = SIMD_PI - euler_out.pitch;
 	
-      euler_out.roll = btAtan2(m_el[2].y()/cos(euler_out.pitch), 
-			       m_el[2].z()/cos(euler_out.pitch));
-      euler_out2.roll = btAtan2(m_el[2].y()/cos(euler_out2.pitch), 
-				m_el[2].z()/cos(euler_out2.pitch));
+      euler_out.roll = btAtan2(m_el[2].y()/btCos(euler_out.pitch), 
+			       m_el[2].z()/btCos(euler_out.pitch));
+      euler_out2.roll = btAtan2(m_el[2].y()/btCos(euler_out2.pitch), 
+				m_el[2].z()/btCos(euler_out2.pitch));
 	
-      euler_out.yaw = btAtan2(m_el[1].x()/cos(euler_out.pitch), 
-			      m_el[0].x()/cos(euler_out.pitch));
-      euler_out2.yaw = btAtan2(m_el[1].x()/cos(euler_out2.pitch), 
-                               m_el[0].x()/cos(euler_out2.pitch));
+      euler_out.yaw = btAtan2(m_el[1].x()/btCos(euler_out.pitch), 
+			      m_el[0].x()/btCos(euler_out.pitch));
+      euler_out2.yaw = btAtan2(m_el[1].x()/btCos(euler_out2.pitch), 
+                               m_el[0].x()/btCos(euler_out2.pitch));
     }
     
     if (solution_number == 1)
-    { yaw = euler_out.yaw; 
-    pitch = euler_out.pitch;
-    roll = euler_out.roll;
+    { 
+		yaw = euler_out.yaw; 
+		pitch = euler_out.pitch;
+		roll = euler_out.roll;
     }
     else
-    { yaw = euler_out2.yaw; 
-    pitch = euler_out2.pitch;
-    roll = euler_out2.roll;
+    { 
+		yaw = euler_out2.yaw; 
+		pitch = euler_out2.pitch;
+		roll = euler_out2.roll;
     }
-
-	
-
-    return;
-
   }
 
   /**@brief Create a scaled copy of the matrix