diff --git a/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp b/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
index 85a8a4e8f..b2e9bfaf5 100644
--- a/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
+++ b/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
@@ -127,7 +127,10 @@ void btConvexPlaneCollisionAlgorithm::processCollision (btCollisionObject* body0
 		resultOut->addContactPoint(normalOnSurfaceB,pOnB,distance);
 	}
 
-	if (resultOut->getPersistentManifold()->getNumContacts()<m_minimumPointsPerturbationThreshold)
+	//the perturbation algorithm doesn't work well with implicit surfaces such as spheres, cylinder and cones:
+	//they keep on rolling forever because of the additional off-center contact points
+	//so only enable the feature for polyhedral shapes (btBoxShape, btConvexHullShape etc)
+	if (convexShape->isPolyhedral() && resultOut->getPersistentManifold()->getNumContacts()<m_minimumPointsPerturbationThreshold)
 	{
 		btVector3 v0,v1;
 		btPlaneSpace1(planeNormal,v0,v1);
diff --git a/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp b/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp
index c27d8ce07..2359c0d8d 100644
--- a/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp
+++ b/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp
@@ -296,3 +296,10 @@ void btDefaultCollisionConfiguration::setConvexConvexMultipointIterations(int nu
 	convexConvex->m_numPerturbationIterations = numPerturbationIterations;
 	convexConvex->m_minimumPointsPerturbationThreshold = minimumPointsPerturbationThreshold;
 }
+
+void	btDefaultCollisionConfiguration::setPlaneConvexMultipointIterations(int numPerturbationIterations, int minimumPointsPerturbationThreshold)
+{
+	btConvexPlaneCollisionAlgorithm::CreateFunc* planeCreateFunc = (btConvexPlaneCollisionAlgorithm::CreateFunc*)m_planeConvexCF;
+	planeCreateFunc->m_numPerturbationIterations = numPerturbationIterations;
+	planeCreateFunc->m_minimumPointsPerturbationThreshold = minimumPointsPerturbationThreshold;
+}
diff --git a/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h b/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h
index 6aa0d8c27..81ed424a3 100644
--- a/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h
+++ b/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h
@@ -129,6 +129,8 @@ public:
 	///@todo we could add a per-object setting of those parameters, for level-of-detail collision detection.
 	void	setConvexConvexMultipointIterations(int numPerturbationIterations=3, int minimumPointsPerturbationThreshold = 3);
 
+	void	setPlaneConvexMultipointIterations(int numPerturbationIterations=3, int minimumPointsPerturbationThreshold = 3);
+
 };
 
 #endif //BT_DEFAULT_COLLISION_CONFIGURATION