diff --git a/src/LinearMath/btQuadWord.h b/src/LinearMath/btQuadWord.h
index f7eeabdee..ad8a0a708 100644
--- a/src/LinearMath/btQuadWord.h
+++ b/src/LinearMath/btQuadWord.h
@@ -54,8 +54,7 @@ class	btQuadWord : public btQuadWordStorage
 {
 	public:
   
-//		SIMD_FORCE_INLINE btScalar&       operator[](int i)       { return (&m_floats[0])[i];	}      
-//		SIMD_FORCE_INLINE const btScalar& operator[](int i) const { return (&m_floats[0])[i]; }
+
   /**@brief Return the x value */
 		SIMD_FORCE_INLINE const btScalar& getX() const { return m_floats[0]; }
   /**@brief Return the y value */
@@ -79,10 +78,21 @@ class	btQuadWord : public btQuadWordStorage
   /**@brief Return the w value */
 		SIMD_FORCE_INLINE const btScalar& w() const { return m_floats[3]; }
 
+	//SIMD_FORCE_INLINE btScalar&       operator[](int i)       { return (&m_floats[0])[i];	}      
+	//SIMD_FORCE_INLINE const btScalar& operator[](int i) const { return (&m_floats[0])[i]; }
+	///operator btScalar*() replaces operator[], using implicit conversion. We added operator != and operator == to avoid pointer comparisons.
+	SIMD_FORCE_INLINE	operator       btScalar *()       { return &m_floats[0]; }
+	SIMD_FORCE_INLINE	operator const btScalar *() const { return &m_floats[0]; }
 
-		SIMD_FORCE_INLINE	operator       btScalar *()       { return &m_floats[0]; }
-		SIMD_FORCE_INLINE	operator const btScalar *() const { return &m_floats[0]; }
+	SIMD_FORCE_INLINE	bool	operator==(const btQuadWord& other) const
+	{
+		return ((m_floats[3]==m_floats[3]) && (m_floats[2]==m_floats[2]) && (m_floats[1]==m_floats[1]) && (m_floats[0]==m_floats[0]));
+	}
 
+	SIMD_FORCE_INLINE	bool	operator!=(const btQuadWord& other) const
+	{
+		return !(*this == other);
+	}
 
   /**@brief Set x,y,z and zero w 
    * @param x Value of x
diff --git a/src/LinearMath/btQuaternion.h b/src/LinearMath/btQuaternion.h
index c7bad7cb8..4f1dc17ae 100644
--- a/src/LinearMath/btQuaternion.h
+++ b/src/LinearMath/btQuaternion.h
@@ -104,11 +104,12 @@ public:
 	}
   /**@brief Add two quaternions
    * @param q The quaternion to add to this one */
-	btQuaternion& operator+=(const btQuaternion& q)
+	SIMD_FORCE_INLINE	btQuaternion& operator+=(const btQuaternion& q)
 	{
 		m_floats[0] += q.x(); m_floats[1] += q.y(); m_floats[2] += q.z(); m_floats[3] += q.m_floats[3];
 		return *this;
 	}
+
   /**@brief Subtract out a quaternion
    * @param q The quaternion to subtract from this one */
 	btQuaternion& operator-=(const btQuaternion& q) 
diff --git a/src/LinearMath/btTransformUtil.h b/src/LinearMath/btTransformUtil.h
index 1b4299800..e8328da4c 100644
--- a/src/LinearMath/btTransformUtil.h
+++ b/src/LinearMath/btTransformUtil.h
@@ -105,8 +105,14 @@ public:
 		linVel = (pos1 - pos0) / timeStep;
 		btVector3 axis;
 		btScalar  angle;
-		calculateDiffAxisAngleQuaternion(orn0,orn1,axis,angle);
-		angVel = axis * angle / timeStep;
+		if (orn0 != orn1)
+		{
+			calculateDiffAxisAngleQuaternion(orn0,orn1,axis,angle);
+			angVel = axis * angle / timeStep;
+		} else
+		{
+			angVel.setValue(0,0,0);
+		}
 	}
 
 	static void calculateDiffAxisAngleQuaternion(const btQuaternion& orn0,const btQuaternion& orn1a,btVector3& axis,btScalar& angle)