diff --git a/Demos/AllBulletDemos/DemoEntries.cpp b/Demos/AllBulletDemos/DemoEntries.cpp
index b0c284c48..2f4c47613 100644
--- a/Demos/AllBulletDemos/DemoEntries.cpp
+++ b/Demos/AllBulletDemos/DemoEntries.cpp
@@ -119,7 +119,18 @@ btDemoEntry g_demoEntries[] =
 	{"SoftBody Torus",SoftDemo13::Create},
 	{"SoftBody Torus Match",SoftDemo14::Create},
 	{"SoftBody Bunny",SoftDemo15::Create},
-	{"SoftBody Bunny Match",SoftDemo16::Create},	
+	{"SoftBody Bunny Match",SoftDemo16::Create},
+	{"SoftBody Init Cutting",SoftDemo17::Create},
+	{"SoftBody Cluster Deform",SoftDemo18::Create},
+	{"SoftBody Cluster Collide1",SoftDemo19::Create},
+	{"SoftBody Cluster Collide2",SoftDemo20::Create},
+	{"SoftBody Cluster Socket",SoftDemo21::Create},
+	{"SoftBody Cluster Hinge",SoftDemo22::Create},
+	{"SoftBody Cluster Combine",SoftDemo23::Create},
+	{"SoftBody Cluster Car",SoftDemo24::Create},
+	{"SoftBody Cluster Robot",SoftDemo25::Create},
+	{"SoftBody Cluster Stack Soft",SoftDemo26::Create},
+	{"SoftBody Cluster Stack Mixed",SoftDemo27::Create},
 	{"DynamicControlDemo",MotorDemo::Create},
 	{"RagdollDemo",RagdollDemo::Create},
 	{"SliderConstraint",SliderConstraintDemo::Create},
diff --git a/Demos/AllBulletDemos/Main.cpp b/Demos/AllBulletDemos/Main.cpp
index d6909f1e9..ee13fe0d4 100644
--- a/Demos/AllBulletDemos/Main.cpp
+++ b/Demos/AllBulletDemos/Main.cpp
@@ -328,7 +328,22 @@ void MouseMotion(int x, int y)
 
 int main(int argc, char** argv)
 {
-	
+
+//#define CHECK_FPU_EXCEPTIONS 1
+#ifdef CHECK_FPU_EXCEPTIONS
+
+	int cw = _control87(0, 0);
+
+	// Set the exception masks off, turn exceptions on
+	cw &= ~(EM_ZERODIVIDE | EM_INVALID);
+
+	printf("control87 = %#x\n", cw);
+
+	// Set the control word
+	_control87(cw, MCW_EM);
+#endif //CHECK_FPU_EXCEPTIONS
+
+
 	setDefaultSettings();
 	
 	int bulletVersion = btGetVersion();
diff --git a/Demos/BasicDemo/BasicDemo.cpp b/Demos/BasicDemo/BasicDemo.cpp
index 361722fcb..2997e7bcd 100644
--- a/Demos/BasicDemo/BasicDemo.cpp
+++ b/Demos/BasicDemo/BasicDemo.cpp
@@ -77,6 +77,8 @@ void BasicDemo::displayCallback(void) {
 
 void	BasicDemo::initPhysics()
 {
+	setTexturing(true);
+	setShadows(true);
 
 	setCameraDistance(btScalar(50.));
 
@@ -102,8 +104,8 @@ void	BasicDemo::initPhysics()
 	m_dynamicsWorld->setGravity(btVector3(0,-10,0));
 
 	///create a few basic rigid bodies
-//	btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
-	btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
+	btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
+//	btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
 	
 	m_collisionShapes.push_back(groundShape);
 
diff --git a/Demos/BspDemo/BspDemo.cpp b/Demos/BspDemo/BspDemo.cpp
index f20e3aae0..4f066bcf8 100644
--- a/Demos/BspDemo/BspDemo.cpp
+++ b/Demos/BspDemo/BspDemo.cpp
@@ -133,8 +133,9 @@ BspDemo::~BspDemo()
 
 void	BspDemo::initPhysics(char* bspfilename)
 {
+	setTexturing(true);
+	setShadows(false);
 	
-
 	m_cameraUp = btVector3(0,0,1);
 	m_forwardAxis = 1;
 
diff --git a/Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp b/Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
index 13f221c48..687c2a521 100644
--- a/Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
+++ b/Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
@@ -319,6 +319,9 @@ float myFrictionModel(	btRigidBody& body1,	btRigidBody& body2,	btManifoldPoint&
 
 void	CcdPhysicsDemo::initPhysics()
 {
+	setTexturing(true);
+	setShadows(false);
+
 #ifdef USE_PARALLEL_DISPATCHER
 #ifdef WIN32
 	m_threadSupportSolver = 0;
diff --git a/Demos/CollisionDemo/CollisionDemo.cpp b/Demos/CollisionDemo/CollisionDemo.cpp
index 31f6ce0b1..207b08fa2 100644
--- a/Demos/CollisionDemo/CollisionDemo.cpp
+++ b/Demos/CollisionDemo/CollisionDemo.cpp
@@ -226,13 +226,16 @@ void CollisionDemo::displayCallback(void) {
 
 	convexConvex.getClosestPoints(input ,gjkOutput,0);
 
+	btVector3 worldBoundsMin(-1000,-1000,-1000);
+	btVector3 worldBoundsMax(1000,1000,1000);
+
 
 	for (i=0;i<numObjects;i++)
 	{
 		
 		tr[i].getOpenGLMatrix( m );
 
-		m_shapeDrawer.drawOpenGL(m,shapePtr[i],btVector3(1,1,1),getDebugMode());
+		m_shapeDrawer.drawOpenGL(m,shapePtr[i],btVector3(1,1,1),getDebugMode(),worldBoundsMin,worldBoundsMax);
 
 
 	}
@@ -248,7 +251,7 @@ void CollisionDemo::displayCallback(void) {
 	btTransform ident;
 	ident.setIdentity();
 	ident.getOpenGLMatrix(m);
-	m_shapeDrawer.drawOpenGL(m,&simplex,btVector3(1,1,1),getDebugMode());
+	m_shapeDrawer.drawOpenGL(m,&simplex,btVector3(1,1,1),getDebugMode(),worldBoundsMin,worldBoundsMax);
 
 
 	btQuaternion orn;
diff --git a/Demos/CollisionInterfaceDemo/CollisionInterfaceDemo.cpp b/Demos/CollisionInterfaceDemo/CollisionInterfaceDemo.cpp
index e65ced01d..1a3f0f881 100644
--- a/Demos/CollisionInterfaceDemo/CollisionInterfaceDemo.cpp
+++ b/Demos/CollisionInterfaceDemo/CollisionInterfaceDemo.cpp
@@ -57,7 +57,7 @@ int main(int argc,char** argv)
 void	CollisionInterfaceDemo::initPhysics()
 {
 			
-	m_debugMode |= btIDebugDraw::DBG_DrawWireframe;
+	//m_debugMode |= btIDebugDraw::DBG_DrawWireframe;
 	
 	btMatrix3x3 basisA;
 	basisA.setIdentity();
@@ -158,13 +158,15 @@ void CollisionInterfaceDemo::displayCallback(void) {
 
 	btScalar m[16];
 	
+	btVector3	worldBoundsMin,worldBoundsMax;
+	collisionWorld->getBroadphase()->getBroadphaseAabb(worldBoundsMin,worldBoundsMax);
 
 
 	for (i=0;i<numObjects;i++)
 	{
 		
 		objects[i].getWorldTransform().getOpenGLMatrix( m );
-		m_shapeDrawer.drawOpenGL(m,objects[i].getCollisionShape(),btVector3(1,1,1),getDebugMode());
+		m_shapeDrawer.drawOpenGL(m,objects[i].getCollisionShape(),btVector3(1,1,1),getDebugMode(),worldBoundsMin,worldBoundsMax);
 
 	}
 
diff --git a/Demos/ConcaveDemo/ConcavePhysicsDemo.cpp b/Demos/ConcaveDemo/ConcavePhysicsDemo.cpp
index dfac0affa..8e5d9288c 100644
--- a/Demos/ConcaveDemo/ConcavePhysicsDemo.cpp
+++ b/Demos/ConcaveDemo/ConcavePhysicsDemo.cpp
@@ -138,6 +138,10 @@ void ConcaveDemo::keyboardCallback(unsigned char key, int x, int y)
 
 void	ConcaveDemo::initPhysics()
 {
+	
+	setTexturing(true);
+	setShadows(false);
+
 	#define TRISIZE 10.f
 
      gContactAddedCallback = CustomMaterialCombinerCallback;
diff --git a/Demos/ConstraintDemo/ConstraintDemo.cpp b/Demos/ConstraintDemo/ConstraintDemo.cpp
index 8e6cd0c21..50511ee1c 100644
--- a/Demos/ConstraintDemo/ConstraintDemo.cpp
+++ b/Demos/ConstraintDemo/ConstraintDemo.cpp
@@ -63,6 +63,9 @@ void	drawLimit()
 
 void	ConstraintDemo::initPhysics()
 {
+	setTexturing(true);
+	setShadows(true);
+
 	setCameraDistance(26.f);
 
 	m_collisionConfiguration = new btDefaultCollisionConfiguration();
diff --git a/Demos/ContinuousConvexCollision/ContinuousConvexCollisionDemo.cpp b/Demos/ContinuousConvexCollision/ContinuousConvexCollisionDemo.cpp
index b2d8cf331..a9e63e822 100644
--- a/Demos/ContinuousConvexCollision/ContinuousConvexCollisionDemo.cpp
+++ b/Demos/ContinuousConvexCollision/ContinuousConvexCollisionDemo.cpp
@@ -149,6 +149,10 @@ void btContinuousConvexCollisionDemo::displayCallback(void) {
 	btScalar m[16];
 	int i;
 
+	btVector3 worldBoundsMin(-1000,-1000,-1000);
+	btVector3 worldBoundsMax(1000,1000,1000);
+
+
 	/*for (i=0;i<numObjects;i++)
 	{
 		fromTrans[i].getOpenGLMatrix( m );
@@ -177,7 +181,7 @@ void btContinuousConvexCollisionDemo::displayCallback(void) {
 				//m_shapeDrawer.drawOpenGL(m,shapePtr[i]);
 
 				interpolatedTrans.getOpenGLMatrix( m );
-				m_shapeDrawer.drawOpenGL(m,shapePtr[i],btVector3(1,0,1),getDebugMode());
+				m_shapeDrawer.drawOpenGL(m,shapePtr[i],btVector3(1,0,1),getDebugMode(),worldBoundsMin,worldBoundsMax);
 			}
 		}
 	}
@@ -229,7 +233,7 @@ void btContinuousConvexCollisionDemo::displayCallback(void) {
 	for (i=0;i<numObjects;i++)
 	{	
 		fromTrans[i].getOpenGLMatrix(m);
-		m_shapeDrawer.drawOpenGL(m,shapePtr[i],btVector3(1,1,1),getDebugMode());
+		m_shapeDrawer.drawOpenGL(m,shapePtr[i],btVector3(1,1,1),getDebugMode(),worldBoundsMin,worldBoundsMax);
 	}
 
 	btDebugCastResult	rayResult1(fromTrans[0],shapePtr[0],linVels[0],angVels[0],&m_shapeDrawer);
@@ -267,12 +271,12 @@ void btContinuousConvexCollisionDemo::displayCallback(void) {
 			btTransformUtil::integrateTransform(fromTrans[0],linVels[0],angVels[0],rayResultPtr->m_fraction,hitTrans);
 
 			hitTrans.getOpenGLMatrix(m);
-			m_shapeDrawer.drawOpenGL(m,shapePtr[0],btVector3(0,1,0),getDebugMode());
+			m_shapeDrawer.drawOpenGL(m,shapePtr[0],btVector3(0,1,0),getDebugMode(),worldBoundsMin,worldBoundsMax);
 
 			btTransformUtil::integrateTransform(fromTrans[i],linVels[i],angVels[i],rayResultPtr->m_fraction,hitTrans);
 
 			hitTrans.getOpenGLMatrix(m);
-			m_shapeDrawer.drawOpenGL(m,shapePtr[i],btVector3(0,1,1),getDebugMode());
+			m_shapeDrawer.drawOpenGL(m,shapePtr[i],btVector3(0,1,1),getDebugMode(),worldBoundsMin,worldBoundsMax);
 	
 
 		}
diff --git a/Demos/ConvexDecompositionDemo/ConvexDecompositionDemo.cpp b/Demos/ConvexDecompositionDemo/ConvexDecompositionDemo.cpp
index 6ec0f46aa..2a693c304 100644
--- a/Demos/ConvexDecompositionDemo/ConvexDecompositionDemo.cpp
+++ b/Demos/ConvexDecompositionDemo/ConvexDecompositionDemo.cpp
@@ -59,6 +59,9 @@ unsigned int tcount = 0;
 
 void ConvexDecompositionDemo::initPhysics(const char* filename)
 {
+	setTexturing(true);
+	setShadows(true);
+
 	setCameraDistance(26.f);
 
 	ConvexDecomposition::WavefrontObj wo;
diff --git a/Demos/DoublePrecisionDemo/DoublePrecisionDemo.cpp b/Demos/DoublePrecisionDemo/DoublePrecisionDemo.cpp
index 46fea51f4..2b869e74c 100644
--- a/Demos/DoublePrecisionDemo/DoublePrecisionDemo.cpp
+++ b/Demos/DoublePrecisionDemo/DoublePrecisionDemo.cpp
@@ -121,6 +121,10 @@ void DoublePrecisionDemo::displayCallback(void)
 
   int i;
 
+	btVector3	worldBoundsMin,worldBoundsMax;
+	collisionWorld->getBroadphase()->getBroadphaseAabb(worldBoundsMin,worldBoundsMax);
+
+
   ///one way to draw all the contact points is iterating over contact manifolds / points:
   int numManifolds = collisionWorld->getDispatcher()->getNumManifolds();
   for (i=0;i<numManifolds;i++)
@@ -169,7 +173,7 @@ void DoublePrecisionDemo::displayCallback(void)
 	  temp = objects[i].getWorldTransform();
 	  temp.setOrigin(temp.getOrigin() - m_cameraPosition);
 		temp.getOpenGLMatrix( m );
-		m_shapeDrawer.drawOpenGL(m,objects[i].getCollisionShape(),color,getDebugMode());
+		m_shapeDrawer.drawOpenGL(m,objects[i].getCollisionShape(),color,getDebugMode(),worldBoundsMin,worldBoundsMax);
 	}
 
   objects[1].getWorldTransform().setOrigin(objects[1].getWorldTransform().getOrigin()+btVector3(-VERY_SMALL_INCREMENT,-VERY_SMALL_INCREMENT,0));
diff --git a/Demos/DynamicControlDemo/MotorDemo.cpp b/Demos/DynamicControlDemo/MotorDemo.cpp
index bf73f14f5..cb5d17fcf 100644
--- a/Demos/DynamicControlDemo/MotorDemo.cpp
+++ b/Demos/DynamicControlDemo/MotorDemo.cpp
@@ -249,6 +249,9 @@ public:
 
 void MotorDemo::initPhysics()
 {
+	setTexturing(true);
+	setShadows(true);
+
 	// Setup the basic world
 
 	m_Time = 0;
diff --git a/Demos/GenericJointDemo/GenericJointDemo.cpp b/Demos/GenericJointDemo/GenericJointDemo.cpp
index d7773aef5..d03c72087 100644
--- a/Demos/GenericJointDemo/GenericJointDemo.cpp
+++ b/Demos/GenericJointDemo/GenericJointDemo.cpp
@@ -59,6 +59,9 @@ int main(int argc,char* argv[])
 
 void GenericJointDemo::initPhysics()
 {
+	setTexturing(true);
+	setShadows(true);
+
 	// Setup the basic world
 
 	btDefaultCollisionConfiguration * collision_config = new btDefaultCollisionConfiguration();
diff --git a/Demos/GimpactTestDemo/GimpactTestDemo.cpp b/Demos/GimpactTestDemo/GimpactTestDemo.cpp
index df9af2f76..72cbac131 100644
--- a/Demos/GimpactTestDemo/GimpactTestDemo.cpp
+++ b/Demos/GimpactTestDemo/GimpactTestDemo.cpp
@@ -110,6 +110,10 @@ void GimpactConcaveDemo::renderme()
 
 	if (m_dynamicsWorld)
 	{
+		btVector3	worldBoundsMin,worldBoundsMax;
+		getDynamicsWorld()->getBroadphase()->getBroadphaseAabb(worldBoundsMin,worldBoundsMax);
+
+
 		int numObjects = m_dynamicsWorld->getNumCollisionObjects();
 		btVector3 wireColor(1,0,0);
 		for (int i=0;i<numObjects;i++)
@@ -153,7 +157,7 @@ void GimpactConcaveDemo::renderme()
 				}
 			}
 
-			m_shapeDrawer.drawOpenGL(m,colObj->getCollisionShape(),wireColor,getDebugMode());
+			m_shapeDrawer.drawOpenGL(m,colObj->getCollisionShape(),wireColor,getDebugMode(),worldBoundsMin,worldBoundsMax);
 		}
 
 
@@ -364,6 +368,9 @@ btCollisionShape * GimpactConcaveDemo::createBunnyShape()
 //------------------------------------------------------------------------------
 void	GimpactConcaveDemo::initPhysics()
 {
+	setTexturing(true);
+	setShadows(false);
+
 	setCameraDistance(45.f);
 
 
diff --git a/Demos/GjkConvexCastDemo/LinearConvexCastDemo.cpp b/Demos/GjkConvexCastDemo/LinearConvexCastDemo.cpp
index f62d6fdf2..00e4c965f 100644
--- a/Demos/GjkConvexCastDemo/LinearConvexCastDemo.cpp
+++ b/Demos/GjkConvexCastDemo/LinearConvexCastDemo.cpp
@@ -135,6 +135,10 @@ void LinearConvexCastDemo::displayCallback(void)
 
 	gGjkSimplexSolver.reset();
 	
+	
+	btVector3 worldBoundsMin(-1000,-1000,-1000);
+	btVector3 worldBoundsMax(1000,1000,1000);
+
 
 	//btGjkConvexCast convexCaster(shapePtr[ 0 ], shapePtr[ 1 ], &gGjkSimplexSolver );
 	btSubsimplexConvexCast convexCaster( shapePtr[ 0 ], shapePtr[ 1 ], &gGjkSimplexSolver );
@@ -154,11 +158,11 @@ void LinearConvexCastDemo::displayCallback(void)
 	btTransform tmp = tr[0];
 	tmp.setOrigin(result.m_hitPoint);
 	tmp.getOpenGLMatrix(m3);
-	m_shapeDrawer.drawOpenGL( m3, &sphere, btVector3( 1, 0, 1 ), getDebugMode() );
+	m_shapeDrawer.drawOpenGL( m3, &sphere, btVector3( 1, 0, 1 ), getDebugMode() ,worldBoundsMin,worldBoundsMax);
 
 
-	m_shapeDrawer.drawOpenGL( m1, shapePtr[ 0 ], btVector3( 1, 0, 0 ), getDebugMode() );
-	m_shapeDrawer.drawOpenGL( m2, shapePtr[ 1 ], btVector3( 1, 0, 0 ), getDebugMode() );
+	m_shapeDrawer.drawOpenGL( m1, shapePtr[ 0 ], btVector3( 1, 0, 0 ), getDebugMode() ,worldBoundsMin,worldBoundsMax);
+	m_shapeDrawer.drawOpenGL( m2, shapePtr[ 1 ], btVector3( 1, 0, 0 ), getDebugMode() ,worldBoundsMin,worldBoundsMax);
 
 	btVector3 originA, originB;
 	originA.setInterpolate3( tr[ 0 ].getOrigin(), toA.getOrigin(), result.m_fraction );
@@ -173,8 +177,8 @@ void LinearConvexCastDemo::displayCallback(void)
 	A.getOpenGLMatrix( m1 );
 	B.getOpenGLMatrix( m2 );
 
-	m_shapeDrawer.drawOpenGL( m1, shapePtr[ 0 ], btVector3( 1, 1, 0 ), getDebugMode() );
-	m_shapeDrawer.drawOpenGL( m2, shapePtr[ 1 ], btVector3( 1, 1, 0 ), getDebugMode() );
+	m_shapeDrawer.drawOpenGL( m1, shapePtr[ 0 ], btVector3( 1, 1, 0 ), getDebugMode() ,worldBoundsMin,worldBoundsMax);
+	m_shapeDrawer.drawOpenGL( m2, shapePtr[ 1 ], btVector3( 1, 1, 0 ), getDebugMode() ,worldBoundsMin,worldBoundsMax);
 
 	glFlush();
     glutSwapBuffers();
diff --git a/Demos/MovingConcaveDemo/ConcavePhysicsDemo.cpp b/Demos/MovingConcaveDemo/ConcavePhysicsDemo.cpp
index bd594dc49..d4179c50f 100644
--- a/Demos/MovingConcaveDemo/ConcavePhysicsDemo.cpp
+++ b/Demos/MovingConcaveDemo/ConcavePhysicsDemo.cpp
@@ -1492,6 +1492,10 @@ void ConcaveDemo::renderme()
 
 	if (m_dynamicsWorld)
 	{
+		btVector3	worldBoundsMin,worldBoundsMax;
+		getDynamicsWorld()->getBroadphase()->getBroadphaseAabb(worldBoundsMin,worldBoundsMax);
+
+
 		int numObjects = m_dynamicsWorld->getNumCollisionObjects();
 		btVector3 wireColor(1,0,0);
 		for (int i=0;i<numObjects;i++)
@@ -1535,7 +1539,7 @@ void ConcaveDemo::renderme()
 				}
 			}
 
-			m_shapeDrawer.drawOpenGL(m,colObj->getCollisionShape(),wireColor,getDebugMode());
+			m_shapeDrawer.drawOpenGL(m,colObj->getCollisionShape(),wireColor,getDebugMode(),worldBoundsMin,worldBoundsMax);
 		}
 
 
diff --git a/Demos/MultiThreadedDemo/CMakeLists.txt b/Demos/MultiThreadedDemo/CMakeLists.txt
index ce4bc7edf..a2d15d79f 100644
--- a/Demos/MultiThreadedDemo/CMakeLists.txt
+++ b/Demos/MultiThreadedDemo/CMakeLists.txt
@@ -23,4 +23,7 @@ ADD_EXECUTABLE(MultiThreadedDemo
 	MultiThreadedDemo.cpp
 	MultiThreadedDemo.h
 )
+IF (UNIX)
+  TARGET_LINK_LIBRARIES(MultiThreadedDemo pthread)
+ENDIF(UNIX)
 
diff --git a/Demos/OpenGL/DebugCastResult.h b/Demos/OpenGL/DebugCastResult.h
index fc2ba5662..65adbfe61 100644
--- a/Demos/OpenGL/DebugCastResult.h
+++ b/Demos/OpenGL/DebugCastResult.h
@@ -70,12 +70,15 @@ struct btDebugCastResult : public btConvexCast::CastResult
 
 	virtual void	DebugDraw(btScalar	fraction)
 	{
+		btVector3 worldBoundsMin(-1000,-1000,-1000);
+		btVector3 worldBoundsMax(1000,1000,1000);
+
 	
 		btScalar m[16];
 		btTransform hitTrans;
 		btTransformUtil::integrateTransform(m_fromTrans,m_linVel,m_angVel,fraction,hitTrans);
 		hitTrans.getOpenGLMatrix(m);
-		m_shapeDrawer->drawOpenGL(m,m_shape,btVector3(1,0,0),btIDebugDraw::DBG_NoDebug);
+		m_shapeDrawer->drawOpenGL(m,m_shape,btVector3(1,0,0),btIDebugDraw::DBG_NoDebug,worldBoundsMin,worldBoundsMax);
 	}
 };
 
diff --git a/Demos/OpenGL/DemoApplication.cpp b/Demos/OpenGL/DemoApplication.cpp
index c8f9d5a6c..e27a0264a 100644
--- a/Demos/OpenGL/DemoApplication.cpp
+++ b/Demos/OpenGL/DemoApplication.cpp
@@ -78,6 +78,9 @@ m_shootBoxShape(0),
 #ifndef BT_NO_PROFILE
 	m_profileIterator = CProfileManager::Get_Iterator();
 #endif //BT_NO_PROFILE
+
+	m_shapeDrawer.enableTexture(true);
+	m_enableshadows = false;
 }
 
 
@@ -957,11 +960,15 @@ for(int i=0;i<numObjects;i++)
 			wireColor += btVector3 (0.f,0.5f,0.f);
 			}
 		}
+
+	btVector3 aabbMin,aabbMax;
+	m_dynamicsWorld->getBroadphase()->getBroadphaseAabb(aabbMin,aabbMax);
+
 	switch(pass)
 		{
-		case	0:	m_shapeDrawer.drawOpenGL(m,colObj->getCollisionShape(),wireColor,getDebugMode());break;
-		case	1:	m_shapeDrawer.drawShadow(m,m_sundirection*rot,colObj->getCollisionShape());break;
-		case	2:	m_shapeDrawer.drawOpenGL(m,colObj->getCollisionShape(),wireColor*0.3,0);break;
+	case	0:	m_shapeDrawer.drawOpenGL(m,colObj->getCollisionShape(),wireColor,getDebugMode(),aabbMin,aabbMax);break;
+		case	1:	m_shapeDrawer.drawShadow(m,m_sundirection*rot,colObj->getCollisionShape(),aabbMin,aabbMax);break;
+		case	2:	m_shapeDrawer.drawOpenGL(m,colObj->getCollisionShape(),wireColor*0.3,0,aabbMin,aabbMax);break;
 		}
 	}
 }
diff --git a/Demos/OpenGL/GL_ShapeDrawer.cpp b/Demos/OpenGL/GL_ShapeDrawer.cpp
index d00507a8f..2a3633aa7 100644
--- a/Demos/OpenGL/GL_ShapeDrawer.cpp
+++ b/Demos/OpenGL/GL_ShapeDrawer.cpp
@@ -360,7 +360,7 @@ GL_ShapeDrawer::ShapeCache*		GL_ShapeDrawer::cache(btConvexShape* shape)
 	return(sc);
 }
 
-void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, const btVector3& color,int	debugMode)
+void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, const btVector3& color,int	debugMode,const btVector3& worldBoundsMin,const btVector3& worldBoundsMax)
 {
 
 
@@ -378,7 +378,7 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
 			{0,0,scalingFactor,0},
 			{0,0,0,1}};
 
-			drawOpenGL( (btScalar*)tmpScaling,convexShape,color,debugMode);
+			drawOpenGL( (btScalar*)tmpScaling,convexShape,color,debugMode,worldBoundsMin,worldBoundsMax);
 		}
 		glPopMatrix();
 		return;
@@ -393,7 +393,7 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
 			const btCollisionShape* colShape = compoundShape->getChildShape(i);
 			btScalar childMat[16];
 			childTrans.getOpenGLMatrix(childMat);
-			drawOpenGL(childMat,colShape,color,debugMode);
+			drawOpenGL(childMat,colShape,color,debugMode,worldBoundsMin,worldBoundsMax);
 		}
 
 	} else
@@ -447,9 +447,12 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
 		{
 			glEnable(GL_TEXTURE_2D);
 			glBindTexture(GL_TEXTURE_2D,m_texturehandle);
+		} else
+		{
+			glDisable(GL_TEXTURE_2D);
 		}
 
-		
+
 		glColor3f(color.x(),color.y(), color.z());		
 
 		bool useWireframeFallback = true;
@@ -692,17 +695,11 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
 			//		if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
 		{
 			btConcaveShape* concaveMesh = (btConcaveShape*) shape;
-			//btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
-			//btVector3 aabbMax(100,100,100);//btScalar(1e30),btScalar(1e30),btScalar(1e30));
-
-			//todo pass camera, for some culling
-			btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
-			btVector3 aabbMin(-btScalar(1e30),-btScalar(1e30),-btScalar(1e30));
 
 			GlDrawcallback drawCallback;
 			drawCallback.m_wireframe = (debugMode & btIDebugDraw::DBG_DrawWireframe)!=0;
 
-			concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax);
+			concaveMesh->processAllTriangles(&drawCallback,worldBoundsMin,worldBoundsMax);
 
 		}
 #endif
@@ -749,7 +746,7 @@ if(m_textureenabled) glDisable(GL_TEXTURE_2D);
 }
 
 //
-void		GL_ShapeDrawer::drawShadow(btScalar* m,const btVector3& extrusion,const btCollisionShape* shape)
+void		GL_ShapeDrawer::drawShadow(btScalar* m,const btVector3& extrusion,const btCollisionShape* shape,const btVector3& worldBoundsMin,const btVector3& worldBoundsMax)
 {
 	glPushMatrix(); 
 	btglMultMatrix(m);
@@ -762,7 +759,7 @@ void		GL_ShapeDrawer::drawShadow(btScalar* m,const btVector3& extrusion,const bt
 		{0,scalingFactor,0,0},
 		{0,0,scalingFactor,0},
 		{0,0,0,1}};
-		drawShadow((btScalar*)tmpScaling,extrusion,convexShape);
+		drawShadow((btScalar*)tmpScaling,extrusion,convexShape,worldBoundsMin,worldBoundsMax);
 		glPopMatrix();
 		return;
 	}
@@ -775,7 +772,7 @@ void		GL_ShapeDrawer::drawShadow(btScalar* m,const btVector3& extrusion,const bt
 			const btCollisionShape* colShape = compoundShape->getChildShape(i);
 			btScalar childMat[16];
 			childTrans.getOpenGLMatrix(childMat);
-			drawShadow(childMat,extrusion*childTrans.getBasis(),colShape);
+			drawShadow(childMat,extrusion*childTrans.getBasis(),colShape,worldBoundsMin,worldBoundsMax);
 		}
 	}
 	else
@@ -812,17 +809,11 @@ void		GL_ShapeDrawer::drawShadow(btScalar* m,const btVector3& extrusion,const bt
 		//		if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
 	{
 		btConcaveShape* concaveMesh = (btConcaveShape*) shape;
-		//btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
-		//btVector3 aabbMax(100,100,100);//btScalar(1e30),btScalar(1e30),btScalar(1e30));
-
-		//todo pass camera, for some culling
-		btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
-		btVector3 aabbMin(-btScalar(1e30),-btScalar(1e30),-btScalar(1e30));
 
 		GlDrawcallback drawCallback;
 		drawCallback.m_wireframe = false;
 
-		concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax);
+		concaveMesh->processAllTriangles(&drawCallback,worldBoundsMin,worldBoundsMax);
 
 	}
 	glPopMatrix();
diff --git a/Demos/OpenGL/GL_ShapeDrawer.h b/Demos/OpenGL/GL_ShapeDrawer.h
index 69748e013..f979a4a57 100644
--- a/Demos/OpenGL/GL_ShapeDrawer.h
+++ b/Demos/OpenGL/GL_ShapeDrawer.h
@@ -47,8 +47,8 @@ class GL_ShapeDrawer
 		virtual ~GL_ShapeDrawer();
 
 		///drawOpenGL might allocate temporary memoty, stores pointer in shape userpointer
-		void		drawOpenGL(btScalar* m, const btCollisionShape* shape, const btVector3& color,int	debugMode);
-		void		drawShadow(btScalar* m, const btVector3& extrusion,const btCollisionShape* shape);
+		void		drawOpenGL(btScalar* m, const btCollisionShape* shape, const btVector3& color,int	debugMode,const btVector3& worldBoundsMin,const btVector3& worldBoundsMax);
+		void		drawShadow(btScalar* m, const btVector3& extrusion,const btCollisionShape* shape,const btVector3& worldBoundsMin,const btVector3& worldBoundsMax);
 		
 		bool		enableTexture(bool enable) { bool p=m_textureenabled;m_textureenabled=enable;return(p); }
 		
diff --git a/Demos/RagdollDemo/RagdollDemo.cpp b/Demos/RagdollDemo/RagdollDemo.cpp
index 62274a28e..9f1ab9db5 100644
--- a/Demos/RagdollDemo/RagdollDemo.cpp
+++ b/Demos/RagdollDemo/RagdollDemo.cpp
@@ -309,6 +309,9 @@ void RagdollDemo::initPhysics()
 {
 	// Setup the basic world
 
+	setTexturing(true);
+	setShadows(true);
+
 	setCameraDistance(btScalar(5.));
 
 	m_collisionConfiguration = new btDefaultCollisionConfiguration();
diff --git a/Demos/SimplexDemo/SimplexDemo.cpp b/Demos/SimplexDemo/SimplexDemo.cpp
index 907f2d265..65f801850 100644
--- a/Demos/SimplexDemo/SimplexDemo.cpp
+++ b/Demos/SimplexDemo/SimplexDemo.cpp
@@ -76,6 +76,9 @@ void SimplexDemo::displayCallback()
 	btScalar m[16];
 	int i;
 
+	btVector3 worldBoundsMin(-1000,-1000,-1000);
+	btVector3 worldBoundsMax(1000,1000,1000);
+
 	for (i=0;i<numObjects;i++)
 	{
 		btTransform transA;
@@ -88,7 +91,7 @@ void SimplexDemo::displayCallback()
 		transA.getOpenGLMatrix( m );
 
 		/// draw the simplex
-		m_shapeDrawer.drawOpenGL(m,shapePtr[i],btVector3(1,1,1),getDebugMode());
+		m_shapeDrawer.drawOpenGL(m,shapePtr[i],btVector3(1,1,1),getDebugMode(),worldBoundsMin,worldBoundsMax);
 
 		/// calculate closest point from simplex to the origin, and draw this vector
 		simplex.calcClosest(m);
diff --git a/Demos/SoftDemo/SoftDemo.h b/Demos/SoftDemo/SoftDemo.h
index 428615103..caf050212 100644
--- a/Demos/SoftDemo/SoftDemo.h
+++ b/Demos/SoftDemo/SoftDemo.h
@@ -165,6 +165,17 @@ MACRO_SOFT_DEMO(13)//Init_Torus
 MACRO_SOFT_DEMO(14)//Init_TorusMatch
 MACRO_SOFT_DEMO(15)//Init_Bunny
 MACRO_SOFT_DEMO(16)//Init_BunnyMatch
+MACRO_SOFT_DEMO(17)//Init_Cutting1
+MACRO_SOFT_DEMO(18)//Init_ClusterDeform
+MACRO_SOFT_DEMO(19)//Init_ClusterCollide1
+MACRO_SOFT_DEMO(20)//Init_ClusterCollide2
+MACRO_SOFT_DEMO(21)//Init_ClusterSocket
+MACRO_SOFT_DEMO(22)//Init_ClusterHinge
+MACRO_SOFT_DEMO(23)//Init_ClusterCombine
+MACRO_SOFT_DEMO(24)//Init_ClusterCar
+MACRO_SOFT_DEMO(25)//Init_ClusterRobot
+MACRO_SOFT_DEMO(26)//Init_ClusterStackSoft
+MACRO_SOFT_DEMO(27)//Init_ClusterStackMixed
 
 
 
diff --git a/Demos/VehicleDemo/VehicleDemo.cpp b/Demos/VehicleDemo/VehicleDemo.cpp
index c190b8725..86f7444dd 100644
--- a/Demos/VehicleDemo/VehicleDemo.cpp
+++ b/Demos/VehicleDemo/VehicleDemo.cpp
@@ -403,13 +403,18 @@ void VehicleDemo::renderme()
 	btCylinderShapeX wheelShape(btVector3(wheelWidth,wheelRadius,wheelRadius));
 	btVector3 wheelColor(1,0,0);
 
+	btVector3	worldBoundsMin,worldBoundsMax;
+	getDynamicsWorld()->getBroadphase()->getBroadphaseAabb(worldBoundsMin,worldBoundsMax);
+
+
+
 	for (i=0;i<m_vehicle->getNumWheels();i++)
 	{
 		//synchronize the wheels with the (interpolated) chassis worldtransform
 		m_vehicle->updateWheelTransform(i,true);
 		//draw wheels (cylinders)
 		m_vehicle->getWheelInfo(i).m_worldTransform.getOpenGLMatrix(m);
-		m_shapeDrawer.drawOpenGL(m,&wheelShape,wheelColor,getDebugMode());
+		m_shapeDrawer.drawOpenGL(m,&wheelShape,wheelColor,getDebugMode(),worldBoundsMin,worldBoundsMax);
 	}
 
 
diff --git a/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp b/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp
index 8802d0e78..3f94f4d4e 100644
--- a/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp
+++ b/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp
@@ -231,11 +231,11 @@ btCollisionAlgorithmCreateFunc* btDefaultCollisionConfiguration::getCollisionAlg
 	if ((proxyType0 == TRIANGLE_SHAPE_PROXYTYPE  ) && (proxyType1==SPHERE_SHAPE_PROXYTYPE))
 	{
 		return	m_triangleSphereCF;
-	}
+	} 
 
 	if ((proxyType0 == BOX_SHAPE_PROXYTYPE) && (proxyType1 == BOX_SHAPE_PROXYTYPE))
 	{
-		//return m_boxBoxCF;
+		return m_boxBoxCF;
 	}
 	
 	if (btBroadphaseProxy::isConvex(proxyType0) && (proxyType1 == STATIC_PLANE_PROXYTYPE))
diff --git a/src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp b/src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp
index fdf2ddc85..dbf7f11dd 100644
--- a/src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp
+++ b/src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp
@@ -803,10 +803,10 @@ void	btOptimizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback*
 	btVector3 rayDirection = (rayTarget-raySource);
 	rayDirection.normalize ();
 	lambda_max = rayDirection.dot(rayTarget-raySource);
-	///what about division by zero?
-	rayDirection[0] = btScalar(1.0) / rayDirection[0];
-	rayDirection[1] = btScalar(1.0) / rayDirection[1];
-	rayDirection[2] = btScalar(1.0) / rayDirection[2];
+	///what about division by zero? --> just set rayDirection[i] to 1.0
+	rayDirection[0] = rayDirection[0] == btScalar(0.0) ? btScalar(1.0) : btScalar(1.0) / rayDirection[0];
+	rayDirection[1] = rayDirection[1] == btScalar(0.0) ? btScalar(1.0) : btScalar(1.0) / rayDirection[1];
+	rayDirection[2] = rayDirection[2] == btScalar(0.0) ? btScalar(1.0) : btScalar(1.0) / rayDirection[2];
 	unsigned int sign[3] = { rayDirection[0] < 0.0, rayDirection[1] < 0.0, rayDirection[2] < 0.0};
 #endif
 
@@ -1365,3 +1365,4 @@ m_bvhQuantization(self.m_bvhQuantization)
 }
 
 
+
diff --git a/src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp b/src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp
index f4f061ad1..01a4d8b08 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp
+++ b/src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp
@@ -901,7 +901,8 @@ if(gjk_status==GJK::eStatus::Valid)
 			const btVector3	delta=	results.witnesses[0]-
 									results.witnesses[1];
 			const btScalar	length=	delta.length();
-			results.normal	=	delta/length;			
+			if (length >= SIMD_EPSILON)
+				results.normal	=	delta/length;			
 			return(-length);
 			}
 		}	
diff --git a/src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp b/src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp
index 8b0249680..4c709a8c3 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp
+++ b/src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp
@@ -137,7 +137,10 @@ bool	btSubsimplexConvexCast::calcTimeOfImpact(
 	
 
 	result.m_fraction = lambda;
-	result.m_normal = n.normalized();
+	if (n.length2() >= (SIMD_EPSILON*SIMD_EPSILON))
+		result.m_normal = n.normalized();
+	else
+		result.m_normal = btVector3(btScalar(0.0), btScalar(0.0), btScalar(0.0));
 
 	//don't report time of impact for motion away from the contact normal (or causes minor penetration)
 	if (result.m_normal.dot(r)>=-result.m_allowedPenetration)
@@ -151,3 +154,4 @@ bool	btSubsimplexConvexCast::calcTimeOfImpact(
 
 
 
+
diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp
index 5babfa914..c8cf5b1d1 100644
--- a/src/BulletSoftBody/btSoftBody.cpp
+++ b/src/BulletSoftBody/btSoftBody.cpp
@@ -1723,7 +1723,9 @@ void					btSoftBody::updateNormals()
 	}
 	for(i=0,ni=m_nodes.size();i<ni;++i)
 	{
-		m_nodes[i].m_n.normalize();
+		btScalar len = m_nodes[i].m_n.length();
+		if (len>SIMD_EPSILON)
+			m_nodes[i].m_n /= len;
 	}
 }