diff --git a/Demos/OpenGL/DemoApplication.cpp b/Demos/OpenGL/DemoApplication.cpp
index 17b9bf6f9..220d700a0 100644
--- a/Demos/OpenGL/DemoApplication.cpp
+++ b/Demos/OpenGL/DemoApplication.cpp
@@ -612,43 +612,19 @@ CcdPhysicsController*  DemoApplication::LocalCreatePhysicsObject(bool isDynamic,
 
 	startTransforms[numObjects] = startTransform;
 
-	PHY_ShapeProps shapeProps;
-
-	shapeProps.m_do_anisotropic = false;
-	shapeProps.m_do_fh = false;
-	shapeProps.m_do_rot_fh = false;
-	shapeProps.m_friction_scaling[0] = 1.;
-	shapeProps.m_friction_scaling[1] = 1.;
-	shapeProps.m_friction_scaling[2] = 1.;
-
-	shapeProps.m_inertia = 1.f;
-	shapeProps.m_lin_drag = 0.2f;
-	shapeProps.m_ang_drag = 0.1f;
-	shapeProps.m_mass = 10.0f;
-
-	PHY_MaterialProps materialProps;
-	materialProps.m_friction = 10.5f;
-	materialProps.m_restitution = 0.0f;
-
 	CcdConstructionInfo ccdObjectCi;
 	ccdObjectCi.m_friction = 0.5f;
-
-	ccdObjectCi.m_linearDamping = shapeProps.m_lin_drag;
-	ccdObjectCi.m_angularDamping = shapeProps.m_ang_drag;
-
+	
 	SimdTransform tr;
 	tr.setIdentity();
 
 	int i = numObjects;
 	{
 		gShapePtr[i] = shape;
-
-		shapeProps.m_shape = gShapePtr[i];
-		shapeProps.m_shape->SetMargin(0.05f);
+		gShapePtr[i]->SetMargin(0.05f);
 
 		SimdQuaternion orn = startTransform.getRotation();
 
-
 		ms[i].setWorldOrientation(orn[0],orn[1],orn[2],orn[3]);
 		ms[i].setWorldPosition(startTransform.getOrigin().getX(),startTransform.getOrigin().getY(),startTransform.getOrigin().getZ());
 
@@ -657,25 +633,22 @@ CcdPhysicsController*  DemoApplication::LocalCreatePhysicsObject(bool isDynamic,
 		ccdObjectCi.m_localInertiaTensor =SimdVector3(0,0,0);
 		if (!isDynamic)
 		{
-			shapeProps.m_mass = 0.f;
-			ccdObjectCi.m_mass = shapeProps.m_mass;
+			ccdObjectCi.m_mass = 0.f;
 			ccdObjectCi.m_collisionFlags = CollisionObject::isStatic;
 			ccdObjectCi.m_collisionFilterGroup = CcdConstructionInfo::StaticFilter;
 			ccdObjectCi.m_collisionFilterMask = CcdConstructionInfo::AllFilter ^ CcdConstructionInfo::StaticFilter;
 		}
 		else
 		{
-			shapeProps.m_mass = mass;
-			ccdObjectCi.m_mass = shapeProps.m_mass;
+			ccdObjectCi.m_mass = mass;
 			ccdObjectCi.m_collisionFlags = 0;
 		}
 
-
 		SimdVector3 localInertia(0.f,0.f,0.f);
 
 		if (isDynamic)
 		{
-			gShapePtr[i]->CalculateLocalInertia(shapeProps.m_mass,localInertia);
+			gShapePtr[i]->CalculateLocalInertia(ccdObjectCi.m_mass,localInertia);
 		}
 
 		ccdObjectCi.m_localInertiaTensor = localInertia;
@@ -727,11 +700,9 @@ void DemoApplication::renderme()
 
 
 		bool isSatEnabled = (getDebugMode() & IDebugDraw::DBG_EnableSatComparison);
-
 		m_physicsEnvironmentPtr->EnableSatCollisionDetection(isSatEnabled);
 
 
-
 		int numPhysicsObjects = m_physicsEnvironmentPtr->GetNumControllers();
 		
 		int i;
@@ -772,7 +743,7 @@ void DemoApplication::renderme()
 			}
 
 			char	extraDebug[125];
-			sprintf(extraDebug,"islId, Body=%i , %i",ctrl->GetRigidBody()->m_islandTag1,ctrl->GetRigidBody()->m_debugBodyId);
+			sprintf(extraDebug,"Island:%i, Body:%i",ctrl->GetRigidBody()->m_islandTag1,ctrl->GetRigidBody()->m_debugBodyId);
 			ctrl->GetRigidBody()->GetCollisionShape()->SetExtraDebugInfo(extraDebug);
 
 			float vec[16];
diff --git a/Demos/OpenGL/GL_ShapeDrawer.cpp b/Demos/OpenGL/GL_ShapeDrawer.cpp
index 82fa73791..9cad8907b 100644
--- a/Demos/OpenGL/GL_ShapeDrawer.cpp
+++ b/Demos/OpenGL/GL_ShapeDrawer.cpp
@@ -330,18 +330,19 @@ void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const Sim
 
 		}
 		
-		/*glDisable(GL_DEPTH_BUFFER_BIT);
-		if (debugMode==IDebugDraw::DBG_DrawText)
+		glDisable(GL_DEPTH_BUFFER_BIT);
+		glRasterPos3f(0,0,0);//mvtx.x(),  vtx.y(),  vtx.z());
+		if (debugMode&IDebugDraw::DBG_DrawText)
 		{
 			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),shape->GetName());
 		}
 
-		if (debugMode==IDebugDraw::DBG_DrawFeaturesText)
+		if (debugMode&IDebugDraw::DBG_DrawFeaturesText)
 		{
 			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),shape->GetExtraDebugInfo());
 		}
 		glEnable(GL_DEPTH_BUFFER_BIT);
-		*/
+		
 
 	//	glPopMatrix();
 	}
diff --git a/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp b/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp
index c5e79e10e..290d477ff 100644
--- a/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp
+++ b/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp
@@ -107,7 +107,7 @@ CcdPhysicsController::~CcdPhysicsController()
 	if (m_cci.m_physicsEnv)
 		m_cci.m_physicsEnv->removeCcdPhysicsController(this);
 
-	delete m_MotionState;
+	///this should not be deleted, it has been allocated by the user//delete m_MotionState;
 	delete m_body;
 }
 
diff --git a/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp b/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp
index 45b2b8fbd..fb0be6f22 100644
--- a/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp
+++ b/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp
@@ -52,5 +52,6 @@ void CollisionObject::activate()
 
 bool CollisionObject::mergesSimulationIslands() const
 {
-	return ( !(m_collisionFlags & isStatic));
+	//static objects, and object without contact response don't merge islands
+	return ( !(m_collisionFlags & (isStatic |noContactResponse )));
 }
diff --git a/src/BulletCollision/CollisionDispatch/btCollisionObject.h b/src/BulletCollision/CollisionDispatch/btCollisionObject.h
index 352f31ede..96ecb1e3f 100644
--- a/src/BulletCollision/CollisionDispatch/btCollisionObject.h
+++ b/src/BulletCollision/CollisionDispatch/btCollisionObject.h
@@ -34,7 +34,9 @@ class	CollisionShape;
 struct	CollisionObject
 {
 	SimdTransform	m_worldTransform;
-	
+	BroadphaseProxy*	m_broadphaseHandle;
+	CollisionShape*		m_collisionShape;
+
 	//m_interpolationWorldTransform is used for CCD and interpolation
 	//it can be either previous or future (predicted) transform
 	SimdTransform	m_interpolationWorldTransform;
@@ -57,8 +59,7 @@ struct	CollisionObject
 	SimdScalar		m_friction;
 	SimdScalar		m_restitution;
 
-	BroadphaseProxy*	m_broadphaseHandle;
-	CollisionShape*		m_collisionShape;
+	
 
 	//users can point to their objects, m_userPointer is not used by Bullet
 	void*			m_userObjectPointer;
diff --git a/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp b/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
index a06b01cb7..b8430bd55 100644
--- a/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
+++ b/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
@@ -36,16 +36,13 @@ void SimulationIslandManager::FindUnions(Dispatcher* dispatcher)
 			 const  CollisionObject* colObj0 = static_cast<const CollisionObject*>(manifold->GetBody0());
 			 const  CollisionObject* colObj1 = static_cast<const CollisionObject*>(manifold->GetBody1());
 
-			 if (colObj0 && colObj1 && dispatcher->NeedsResponse(*colObj0,*colObj1))
-			 {
-				if (((colObj0) && ((colObj0)->mergesSimulationIslands())) &&
-					((colObj1) && ((colObj1)->mergesSimulationIslands())))
-				{
+			if (((colObj0) && ((colObj0)->mergesSimulationIslands())) &&
+				((colObj1) && ((colObj1)->mergesSimulationIslands())))
+			{
 
-					m_unionFind.unite((colObj0)->m_islandTag1,
-						(colObj1)->m_islandTag1);
-				}
-			 }
+				m_unionFind.unite((colObj0)->m_islandTag1,
+					(colObj1)->m_islandTag1);
+			}
 			
 			
 		}
diff --git a/src/BulletDynamics/Dynamics/btRigidBody.h b/src/BulletDynamics/Dynamics/btRigidBody.h
index 82a30f4f4..a798e0941 100644
--- a/src/BulletDynamics/Dynamics/btRigidBody.h
+++ b/src/BulletDynamics/Dynamics/btRigidBody.h
@@ -37,6 +37,24 @@ extern bool gUseEpa;
 /// 
 class RigidBody  : public CollisionObject
 {
+
+	SimdMatrix3x3	m_invInertiaTensorWorld;
+	SimdVector3		m_linearVelocity;
+	SimdVector3		m_angularVelocity;
+	SimdScalar		m_inverseMass;
+
+	SimdVector3		m_gravity;	
+	SimdVector3		m_invInertiaLocal;
+	SimdVector3		m_totalForce;
+	SimdVector3		m_totalTorque;
+	
+	SimdScalar		m_linearDamping;
+	SimdScalar		m_angularDamping;
+	
+	SimdScalar		m_kinematicTimeStep;
+
+	BroadphaseProxy*	m_broadphaseProxy;
+
 public:
 
 	RigidBody(const MassProps& massProps,SimdScalar linearDamping,SimdScalar angularDamping,SimdScalar friction,SimdScalar restitution);
@@ -197,29 +215,6 @@ public:
 
 private:
 	
-	SimdMatrix3x3	m_invInertiaTensorWorld;
-	SimdVector3		m_gravity;	
-	SimdVector3		m_invInertiaLocal;
-	SimdVector3		m_totalForce;
-	SimdVector3		m_totalTorque;
-//	SimdQuaternion	m_orn1;
-	
-	SimdVector3		m_linearVelocity;
-	
-	SimdVector3		m_angularVelocity;
-	
-	SimdScalar		m_linearDamping;
-	SimdScalar		m_angularDamping;
-	SimdScalar		m_inverseMass;
-
-
-	SimdScalar		m_kinematicTimeStep;
-
-	BroadphaseProxy*	m_broadphaseProxy;
-
-
-	
-
 
 	
 public:
@@ -240,7 +235,8 @@ public:
 	int	m_contactSolverType;
 	int	m_frictionSolverType;
 
-
+/*
+//unused
 	/// for ode solver-binding
 	dMatrix3		m_R;//temp
 	dMatrix3		m_I;
@@ -250,8 +246,8 @@ public:
 	
 	SimdVector3		m_tacc;//temp
 	SimdVector3		m_facc;
-
-
+*/
+	
 
 	int	m_debugBodyId;
 };
diff --git a/src/LinearMath/SimdTransform.h b/src/LinearMath/SimdTransform.h
index 426bbadf0..aad411901 100644
--- a/src/LinearMath/SimdTransform.h
+++ b/src/LinearMath/SimdTransform.h
@@ -21,6 +21,7 @@ subject to the following restrictions:
 #include "LinearMath/SimdMatrix3x3.h"
 
 
+#define IGNORE_TYPE 1
 
 class SimdTransform {
 	
@@ -41,37 +42,49 @@ public:
 	explicit SIMD_FORCE_INLINE SimdTransform(const SimdQuaternion& q, 
 		const SimdVector3& c = SimdVector3(SimdScalar(0), SimdScalar(0), SimdScalar(0))) 
 		: m_basis(q),
-		m_origin(c),
-		m_type(RIGID)
+		m_origin(c)
+#ifndef IGNORE_TYPE
+		,	m_type(RIGID)
+#endif //IGNORE_TYPE
 	{}
 
 	explicit SIMD_FORCE_INLINE SimdTransform(const SimdMatrix3x3& b, 
 		const SimdVector3& c = SimdVector3(SimdScalar(0), SimdScalar(0), SimdScalar(0)), 
 		unsigned int type = AFFINE)
 		: m_basis(b),
-		m_origin(c),
-		m_type(type)
+		m_origin(c)
+#ifndef IGNORE_TYPE
+		,	m_type(type)
+#endif //IGNORE_TYPE
 	{}
 
 
 		SIMD_FORCE_INLINE void mult(const SimdTransform& t1, const SimdTransform& t2) {
 			m_basis = t1.m_basis * t2.m_basis;
 			m_origin = t1(t2.m_origin);
+#ifndef IGNORE_TYPE
 			m_type = t1.m_type | t2.m_type;
+#endif //IGNORE_TYPE
 		}
 
 		void multInverseLeft(const SimdTransform& t1, const SimdTransform& t2) {
 			SimdVector3 v = t2.m_origin - t1.m_origin;
+#ifndef  IGNORE_TYPE
 			if (t1.m_type & SCALING) {
 				SimdMatrix3x3 inv = t1.m_basis.inverse();
 				m_basis = inv * t2.m_basis;
 				m_origin = inv * v;
 			}
-			else {
+			else 
+#else
+			{
 				m_basis = SimdMultTransposeLeft(t1.m_basis, t2.m_basis);
 				m_origin = v * t1.m_basis;
+#endif //IGNORE_TYPE
 			}
+#ifndef IGNORE_TYPE
 			m_type = t1.m_type | t2.m_type;
+#endif //IGNORE_TYPE
 		}
 
 	SIMD_FORCE_INLINE SimdVector3 operator()(const SimdVector3& x) const
@@ -102,7 +115,9 @@ public:
 	{
 		m_basis.setValue(m);
 		m_origin.setValue(&m[12]);
+#ifndef IGNORE_TYPE
 		m_type = AFFINE;
+#endif //IGNORE_TYPE
 	}
 
 	
@@ -126,7 +141,9 @@ public:
 	SIMD_FORCE_INLINE void setOrigin(const SimdVector3& origin) 
 	{ 
 		m_origin = origin;
+#ifndef IGNORE_TYPE
 		m_type |= TRANSLATION;
+#endif //IGNORE_TYPE
 	}
 
 	SIMD_FORCE_INLINE SimdVector3 invXform(const SimdVector3& inVec) const;
@@ -136,40 +153,60 @@ public:
 	SIMD_FORCE_INLINE void setBasis(const SimdMatrix3x3& basis)
 	{ 
 		m_basis = basis;
+#ifndef IGNORE_TYPE
 		m_type |= LINEAR;
+#endif //IGNORE_TYPE
 	}
 
 	SIMD_FORCE_INLINE void setRotation(const SimdQuaternion& q)
 	{
 		m_basis.setRotation(q);
+#ifndef IGNORE_TYPE
 		m_type = (m_type & ~LINEAR) | ROTATION;
+#endif //IGNORE_TYPE
 	}
 
 	SIMD_FORCE_INLINE void scale(const SimdVector3& scaling)
 	{
 		m_basis = m_basis.scaled(scaling);
+#ifndef IGNORE_TYPE
 		m_type |= SCALING;
+#endif //IGNORE_TYPE
 	}
 
 	void setIdentity()
 	{
 		m_basis.setIdentity();
 		m_origin.setValue(SimdScalar(0.0), SimdScalar(0.0), SimdScalar(0.0));
+#ifndef IGNORE_TYPE
 		m_type = 0x0;
+#endif //IGNORE_TYPE
 	}
 
-	SIMD_FORCE_INLINE bool isIdentity() const { return m_type == 0x0; }
+	SIMD_FORCE_INLINE bool isIdentity() const { 
+#ifdef IGNORE_TYPE
+		return false;
+#else
+		return m_type == 0x0; 
+#endif
+	}
 
 	SimdTransform& operator*=(const SimdTransform& t) 
 	{
 		m_origin += m_basis * t.m_origin;
 		m_basis *= t.m_basis;
+#ifndef IGNORE_TYPE
 		m_type |= t.m_type; 
+#endif //IGNORE_TYPE
 		return *this;
 	}
 
 	SimdTransform inverse() const
 	{ 
+#ifdef IGNORE_TYPE
+		SimdMatrix3x3 inv = m_basis.transpose();
+		return SimdTransform(inv, inv * -m_origin, 0);
+#else
 		if (m_type)
 		{
 			SimdMatrix3x3 inv = (m_type & SCALING) ? 
@@ -180,6 +217,7 @@ public:
 		}
 
 		return *this;
+#endif //IGNORE_TYPE
 	}
 
 	SimdTransform inverseTimes(const SimdTransform& t) const;  
@@ -190,7 +228,9 @@ private:
 
 	SimdMatrix3x3 m_basis;
 	SimdVector3   m_origin;
+#ifndef IGNORE_TYPE
 	unsigned int      m_type;
+#endif //IGNORE_TYPE
 };
 
 
@@ -205,6 +245,7 @@ SIMD_FORCE_INLINE SimdTransform
 SimdTransform::inverseTimes(const SimdTransform& t) const  
 {
 	SimdVector3 v = t.getOrigin() - m_origin;
+#ifndef IGNORE_TYPE
 	if (m_type & SCALING) 
 	{
 		SimdMatrix3x3 inv = m_basis.inverse();
@@ -212,10 +253,12 @@ SimdTransform::inverseTimes(const SimdTransform& t) const
 			m_type | t.m_type);
 	}
 	else 
+#else
 	{
 		return SimdTransform(m_basis.transposeTimes(t.m_basis),
-			v * m_basis, m_type | t.m_type);
+			v * m_basis, 0);
 	}
+#endif //IGNORE_TYPE
 }
 
 SIMD_FORCE_INLINE SimdTransform 
@@ -223,7 +266,11 @@ SimdTransform::operator*(const SimdTransform& t) const
 {
 	return SimdTransform(m_basis * t.m_basis, 
 		(*this)(t.m_origin), 
+#ifndef IGNORE_TYPE
 		m_type | t.m_type);
+#else
+		0);
+#endif
 }