diff --git a/data/multibody.bullet b/data/multibody.bullet
index ebec1dad3..36a570fe5 100644
Binary files a/data/multibody.bullet and b/data/multibody.bullet differ
diff --git a/examples/RobotSimulator/MinitaurSetup.cpp b/examples/RobotSimulator/MinitaurSetup.cpp
index e867d0583..13f6ddb0e 100644
--- a/examples/RobotSimulator/MinitaurSetup.cpp
+++ b/examples/RobotSimulator/MinitaurSetup.cpp
@@ -128,7 +128,7 @@ int MinitaurSetup::setupMinitaur(class b3RobotSimulatorClientAPI* sim, const b3V
 	{
 		b3JointInfo jointInfo;
 		sim->getJointInfo(m_data->m_quadrupedUniqueId,i,&jointInfo);
-		if (jointInfo.m_jointName)
+		if (jointInfo.m_jointName[0])
 		{
 			m_data->m_jointNameToId.insert(jointInfo.m_jointName,i);
 		}
@@ -137,4 +137,4 @@ int MinitaurSetup::setupMinitaur(class b3RobotSimulatorClientAPI* sim, const b3V
 	resetPose(sim);
 
 	return m_data->m_quadrupedUniqueId;
-}
\ No newline at end of file
+}
diff --git a/src/BulletCollision/CollisionShapes/btConvexShape.cpp b/src/BulletCollision/CollisionShapes/btConvexShape.cpp
index 8d7fb054d..2f8485859 100644
--- a/src/BulletCollision/CollisionShapes/btConvexShape.cpp
+++ b/src/BulletCollision/CollisionShapes/btConvexShape.cpp
@@ -118,9 +118,13 @@ static btVector3 convexHullSupport (const btVector3& localDirOrg, const btVector
 	return supVec;
 #else
 
-    btScalar maxDot;
-    long ptIndex = vec.maxDot( points, numPoints, maxDot);
+	btScalar maxDot;
+	long ptIndex = vec.maxDot( points, numPoints, maxDot);
 	btAssert(ptIndex >= 0);
+	if (ptIndex<0)
+	{
+		ptIndex = 0;
+	}
 	btVector3 supVec = points[ptIndex] * localScaling;
 	return supVec;
 #endif //__SPU__
diff --git a/src/BulletDynamics/Featherstone/btMultiBody.cpp b/src/BulletDynamics/Featherstone/btMultiBody.cpp
index 0f15a0c83..0c7da662e 100644
--- a/src/BulletDynamics/Featherstone/btMultiBody.cpp
+++ b/src/BulletDynamics/Featherstone/btMultiBody.cpp
@@ -983,7 +983,13 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar
 			case btMultibodyLink::ePrismatic:
 			case btMultibodyLink::eRevolute:
 			{
-				invDi[0] = 1.0f / D[0];
+				if (D[0]>=SIMD_EPSILON)
+				{
+					invDi[0] = 1.0f / D[0];
+				} else
+				{
+					invDi[0] = 0;
+				}
 				break;
 			}
 			case btMultibodyLink::eSpherical:
@@ -1266,12 +1272,29 @@ void btMultiBody::solveImatrix(const btVector3& rhs_top, const btVector3& rhs_bo
     if (num_links == 0) 
 	{
 		// in the case of 0 m_links (i.e. a plain rigid body, not a multibody) rhs * invI is easier
-        result[0] = rhs_bot[0] / m_baseInertia[0];
-        result[1] = rhs_bot[1] / m_baseInertia[1];
-        result[2] = rhs_bot[2] / m_baseInertia[2];
-        result[3] = rhs_top[0] / m_baseMass;
-        result[4] = rhs_top[1] / m_baseMass;
-        result[5] = rhs_top[2] / m_baseMass;
+   
+	if ((m_baseInertia[0] >= SIMD_EPSILON) && (m_baseInertia[1] >= SIMD_EPSILON) && (m_baseInertia[2] >= SIMD_EPSILON))
+	{
+		result[0] = rhs_bot[0] / m_baseInertia[0];
+		result[1] = rhs_bot[1] / m_baseInertia[1];
+        	result[2] = rhs_bot[2] / m_baseInertia[2];
+	} else
+	{
+		result[0] = 0;
+		result[1] = 0;
+		result[2] = 0;
+	}
+	if (m_baseMass>=SIMD_EPSILON)
+	{
+        	result[3] = rhs_top[0] / m_baseMass;
+        	result[4] = rhs_top[1] / m_baseMass;
+        	result[5] = rhs_top[2] / m_baseMass;
+	} else
+	{
+		result[3] = 0;
+		result[4] = 0;
+		result[5] = 0;
+	}
     } else 
 	{
 		if (!m_cachedInertiaValid)
@@ -1322,9 +1345,21 @@ void btMultiBody::solveImatrix(const btSpatialForceVector &rhs, btSpatialMotionV
     if (num_links == 0) 
 	{
 		// in the case of 0 m_links (i.e. a plain rigid body, not a multibody) rhs * invI is easier
-		result.setAngular(rhs.getAngular() / m_baseInertia);
-		result.setLinear(rhs.getLinear() / m_baseMass);		
-    } else 
+		if ((m_baseInertia[0] >= SIMD_EPSILON) && (m_baseInertia[1] >= SIMD_EPSILON) && (m_baseInertia[2] >= SIMD_EPSILON))
+        	{
+			result.setAngular(rhs.getAngular() / m_baseInertia);       
+        	} else  
+        	{       
+                	result.setAngular(btVector3(0,0,0));
+        	}
+        	if (m_baseMass>=SIMD_EPSILON)
+        	{       
+			result.setLinear(rhs.getLinear() / m_baseMass);               	 	
+        	} else  
+        	{       
+                	result.setLinear(btVector3(0,0,0));
+        	}
+    	} else 
 	{
 		/// Special routine for calculating the inverse of a spatial inertia matrix
 		///the 6x6 matrix is stored as 4 blocks of 3x3 matrices