diff --git a/Demos/CMakeLists.txt b/Demos/CMakeLists.txt
index 98b4eab1b..2b5d2b317 100644
--- a/Demos/CMakeLists.txt
+++ b/Demos/CMakeLists.txt
@@ -1,2 +1,2 @@
-SUBDIRS( OpenGL CcdPhysicsDemo RagdollDemo BasicDemo BspDemo MovingConcaveDemo VehicleDemo ColladaDemo UserCollisionAlgorithm )
+SUBDIRS( OpenGL CcdPhysicsDemo ConstraintDemo GenericJointDemo RagdollDemo BasicDemo BspDemo MovingConcaveDemo VehicleDemo ColladaDemo UserCollisionAlgorithm )
 
diff --git a/Demos/ColladaDemo/ColladaDemo.cpp b/Demos/ColladaDemo/ColladaDemo.cpp
index db1eeb000..863e82b68 100644
--- a/Demos/ColladaDemo/ColladaDemo.cpp
+++ b/Demos/ColladaDemo/ColladaDemo.cpp
@@ -68,9 +68,10 @@ class MyColladaConverter : public ColladaConverter
 
 				}
 
+				bool useReferenceFrameA = true;
 				btGeneric6DofConstraint* genericConstraint = new btGeneric6DofConstraint(
 							*bodyRef,*bodyOther,
-							localAttachmentFrameRef,localAttachmentOther);
+							localAttachmentFrameRef,localAttachmentOther,useReferenceFrameA);
 
 				genericConstraint->setLinearLowerLimit(linearMinLimits);
 				genericConstraint->setLinearUpperLimit(linearMaxLimits);
diff --git a/Demos/ConstraintDemo/CMakeLists.txt b/Demos/ConstraintDemo/CMakeLists.txt
new file mode 100644
index 000000000..ac4b30790
--- /dev/null
+++ b/Demos/ConstraintDemo/CMakeLists.txt
@@ -0,0 +1,61 @@
+# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
+
+
+# For every executable you have with a main method you should have an add_executable line below.
+# For every add executable line you should list every .cpp and .h file you have associated with that executable.  
+
+
+# This is the variable for Windows.  I use this to define the root of my directory structure.
+SET(GLUT_ROOT ${BULLET_PHYSICS_SOURCE_DIR}/Glut)
+
+# You shouldn't have to modify anything below this line 
+########################################################
+
+
+# This is the shortcut to finding GLU, GLUT and OpenGL if they are properly installed on your system
+# This should be the case.
+INCLUDE (${CMAKE_ROOT}/Modules/FindGLU.cmake)
+INCLUDE (${CMAKE_ROOT}/Modules/FindGLUT.cmake) 
+INCLUDE (${CMAKE_ROOT}/Modules/FindOpenGL.cmake)
+
+
+IF (WIN32)
+  # This is the Windows code for which Opengl, and Glut are not properly installed
+  # since I can't install them I must cheat and copy libraries around
+  INCLUDE_DIRECTORIES(${GLUT_ROOT})
+ # LINK_DIRECTORIES(${GLUT_ROOT}\\lib)
+  IF (${GLUT_glut_LIBRARY} MATCHES "GLUT_glut_LIBRARY-NOTFOUND")
+  SET(GLUT_glut_LIBRARY ${BULLET_PHYSICS_SOURCE_DIR}/Glut/glut32.lib)
+ #   LINK_LIBRARIES(${GLUT_ROOT}\\lib\\glut32 ${OPENGL_gl_LIBRARY} ${OPENGL_glU_LIBRARY})
+ #   TARGET_LINK_LIBRARIES(table ${GLUT_ROOT}\\lib\\glut32)
+#
+#    ADD_CUSTOM_COMMAND(TARGET table POST_BUILD COMMAND copy ${GLUT_ROOT}\\lib\\glut32.dll ${GLUT_ROOT}\\bin\\vs2005\\Debug
+#                        COMMAND copy ${GLUT_ROOT}\\lib\\glut32.dll ${GLUT_ROOT}\\bin\\vs2003\\Debug 
+#            COMMAND copy ${GLUT_ROOT}\\lib\\glut32.dll ${GLUT_ROOT}\\bin\\vs6\\Debug)
+  ELSE (${GLUT_glut_LIBRARY} MATCHES "GLUT_glut_LIBRARY-NOTFOUND")
+#    LINK_LIBRARIES(${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glU_LIBRARY}) 
+#    TARGET_LINK_LIBRARIES(table ${GLUT_glut_LIBRARY})
+  ENDIF(${GLUT_glut_LIBRARY} MATCHES "GLUT_glut_LIBRARY-NOTFOUND")
+#  TARGET_LINK_LIBRARIES(table ${OPENGL_gl_LIBRARY})
+#  TARGET_LINK_LIBRARIES(table ${OPENGL_glu_LIBRARY}) 
+ELSE (WIN32)
+  # This is the lines for linux.  This should always work if everything is installed and working fine.
+#  SET(CMAKE_BUILD_TYPE Debug)
+#  SET(CMAKE_CXX_FLAGS_DEBUG "-g")
+  INCLUDE_DIRECTORIES(/usr/include /usr/local/include ${GLUT_INCLUDE_DIR}) 
+#  TARGET_LINK_LIBRARIES(table ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glU_LIBRARY})
+#  TARGET_LINK_LIBRARIES(checker ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glU_LIBRARY})
+ENDIF (WIN32)
+
+INCLUDE_DIRECTORIES(
+${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL }
+)
+
+LINK_LIBRARIES(
+LibOpenGLSupport  LibBulletDynamics  LibBulletCollision LibLinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+)
+
+ADD_EXECUTABLE(ConstraintDemo
+		ConstraintDemo.cpp
+)
+
diff --git a/Demos/GenericJointDemo/CMakeLists.txt b/Demos/GenericJointDemo/CMakeLists.txt
new file mode 100644
index 000000000..a015f98a8
--- /dev/null
+++ b/Demos/GenericJointDemo/CMakeLists.txt
@@ -0,0 +1,62 @@
+# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
+
+
+# For every executable you have with a main method you should have an add_executable line below.
+# For every add executable line you should list every .cpp and .h file you have associated with that executable.  
+
+
+# This is the variable for Windows.  I use this to define the root of my directory structure.
+SET(GLUT_ROOT ${BULLET_PHYSICS_SOURCE_DIR}/Glut)
+
+# You shouldn't have to modify anything below this line 
+########################################################
+
+
+# This is the shortcut to finding GLU, GLUT and OpenGL if they are properly installed on your system
+# This should be the case.
+INCLUDE (${CMAKE_ROOT}/Modules/FindGLU.cmake)
+INCLUDE (${CMAKE_ROOT}/Modules/FindGLUT.cmake) 
+INCLUDE (${CMAKE_ROOT}/Modules/FindOpenGL.cmake)
+
+
+IF (WIN32)
+  # This is the Windows code for which Opengl, and Glut are not properly installed
+  # since I can't install them I must cheat and copy libraries around
+  INCLUDE_DIRECTORIES(${GLUT_ROOT})
+ # LINK_DIRECTORIES(${GLUT_ROOT}\\lib)
+  IF (${GLUT_glut_LIBRARY} MATCHES "GLUT_glut_LIBRARY-NOTFOUND")
+  SET(GLUT_glut_LIBRARY ${BULLET_PHYSICS_SOURCE_DIR}/Glut/glut32.lib)
+ #   LINK_LIBRARIES(${GLUT_ROOT}\\lib\\glut32 ${OPENGL_gl_LIBRARY} ${OPENGL_glU_LIBRARY})
+ #   TARGET_LINK_LIBRARIES(table ${GLUT_ROOT}\\lib\\glut32)
+#
+#    ADD_CUSTOM_COMMAND(TARGET table POST_BUILD COMMAND copy ${GLUT_ROOT}\\lib\\glut32.dll ${GLUT_ROOT}\\bin\\vs2005\\Debug
+#                        COMMAND copy ${GLUT_ROOT}\\lib\\glut32.dll ${GLUT_ROOT}\\bin\\vs2003\\Debug 
+#            COMMAND copy ${GLUT_ROOT}\\lib\\glut32.dll ${GLUT_ROOT}\\bin\\vs6\\Debug)
+  ELSE (${GLUT_glut_LIBRARY} MATCHES "GLUT_glut_LIBRARY-NOTFOUND")
+#    LINK_LIBRARIES(${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glU_LIBRARY}) 
+#    TARGET_LINK_LIBRARIES(table ${GLUT_glut_LIBRARY})
+  ENDIF(${GLUT_glut_LIBRARY} MATCHES "GLUT_glut_LIBRARY-NOTFOUND")
+#  TARGET_LINK_LIBRARIES(table ${OPENGL_gl_LIBRARY})
+#  TARGET_LINK_LIBRARIES(table ${OPENGL_glu_LIBRARY}) 
+ELSE (WIN32)
+  # This is the lines for linux.  This should always work if everything is installed and working fine.
+#  SET(CMAKE_BUILD_TYPE Debug)
+#  SET(CMAKE_CXX_FLAGS_DEBUG "-g")
+  INCLUDE_DIRECTORIES(/usr/include /usr/local/include ${GLUT_INCLUDE_DIR}) 
+#  TARGET_LINK_LIBRARIES(table ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glU_LIBRARY})
+#  TARGET_LINK_LIBRARIES(checker ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glU_LIBRARY})
+ENDIF (WIN32)
+
+INCLUDE_DIRECTORIES(
+${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL }
+)
+
+LINK_LIBRARIES(
+LibOpenGLSupport  LibBulletDynamics  LibBulletCollision LibLinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+)
+
+ADD_EXECUTABLE(GenericJointDemo
+	GenericJointDemo.cpp
+	Ragdoll.cpp
+)
+
diff --git a/VERSION b/VERSION
index cf1e35d48..7ed39a743 100644
--- a/VERSION
+++ b/VERSION
@@ -1,3 +1,3 @@
-Bullet Collision Detection and Physics Library version 2.60
+Bullet Collision Detection and Physics Library version 2.61
 http://bullet.sourceforge.net
 
diff --git a/configure b/configure
index cd89600b3..ec04d146e 100755
--- a/configure
+++ b/configure
@@ -1,6 +1,6 @@
 #! /bin/sh
 # Guess values for system-dependent variables and create Makefiles.
-# Generated by GNU Autoconf 2.59 for bullet 2.60.
+# Generated by GNU Autoconf 2.59 for bullet 2.61.
 #
 # Report bugs to <bullet@erwincoumans.com>.
 #
@@ -271,8 +271,8 @@ SHELL=${CONFIG_SHELL-/bin/sh}
 # Identity of this package.
 PACKAGE_NAME='bullet'
 PACKAGE_TARNAME='bullet'
-PACKAGE_VERSION='2.60'
-PACKAGE_STRING='bullet 2.60'
+PACKAGE_VERSION='2.61'
+PACKAGE_STRING='bullet 2.61'
 PACKAGE_BUGREPORT='bullet@erwincoumans.com'
 
 ac_unique_file="mk/jam/build.jam"
@@ -790,7 +790,7 @@ if test "$ac_init_help" = "long"; then
   # Omit some internal or obsolete options to make the list less imposing.
   # This message is too long to be a string in the A/UX 3.1 sh.
   cat <<_ACEOF
-\`configure' configures bullet 2.60 to adapt to many kinds of systems.
+\`configure' configures bullet 2.61 to adapt to many kinds of systems.
 
 Usage: $0 [OPTION]... [VAR=VALUE]...
 
@@ -855,7 +855,7 @@ fi
 
 if test -n "$ac_init_help"; then
   case $ac_init_help in
-     short | recursive ) echo "Configuration of bullet 2.60:";;
+     short | recursive ) echo "Configuration of bullet 2.61:";;
    esac
   cat <<\_ACEOF
 
@@ -980,7 +980,7 @@ fi
 test -n "$ac_init_help" && exit 0
 if $ac_init_version; then
   cat <<\_ACEOF
-bullet configure 2.60
+bullet configure 2.61
 generated by GNU Autoconf 2.59
 
 Copyright (C) 2003 Free Software Foundation, Inc.
@@ -994,7 +994,7 @@ cat >&5 <<_ACEOF
 This file contains any messages produced by compilers while
 running configure, to aid debugging if configure makes a mistake.
 
-It was created by bullet $as_me 2.60, which was
+It was created by bullet $as_me 2.61, which was
 generated by GNU Autoconf 2.59.  Invocation command line was
 
   $ $0 $@
@@ -9898,7 +9898,7 @@ cs_jamconfig_text="${cs_jamconfig_text}PACKAGE_NAME ?= \"$PACKAGE_NAME\" ;
 "
     cs_jamconfig_text="${cs_jamconfig_text}PACKAGE_COPYRIGHT ?= \"$PACKAGE_COPYRIGHT\" ;
 "
-    for cs_veritem in 2 60; do
+    for cs_veritem in 2 61; do
 	cs_jamconfig_text="${cs_jamconfig_text}PACKAGE_VERSION_LIST += \"$cs_veritem\" ;
 "
     done
@@ -10275,7 +10275,7 @@ _ASBOX
 } >&5
 cat >&5 <<_CSEOF
 
-This file was extended by bullet $as_me 2.60, which was
+This file was extended by bullet $as_me 2.61, which was
 generated by GNU Autoconf 2.59.  Invocation command line was
 
   CONFIG_FILES    = $CONFIG_FILES
@@ -10338,7 +10338,7 @@ _ACEOF
 
 cat >>$CONFIG_STATUS <<_ACEOF
 ac_cs_version="\\
-bullet config.status 2.60
+bullet config.status 2.61
 configured by $0, generated by GNU Autoconf 2.59,
   with options \\"`echo "$ac_configure_args" | sed 's/[\\""\`\$]/\\\\&/g'`\\"
 
diff --git a/configure.ac b/configure.ac
index 4dbc4807b..582283207 100644
--- a/configure.ac
+++ b/configure.ac
@@ -9,7 +9,7 @@ AC_PREREQ([2.54])
 #----------------------------------------------------------------------------
 AC_INIT(
     [bullet],
-    [2.60],
+    [2.61],
     [bullet@erwincoumans.com])
 CS_PACKAGEINFO(
     [Bullet Continuous Collision Detection and Physics Library],