diff --git a/build3/stringify.sh b/build3/stringify.sh
index feb319cdf..b5112fce2 100755
--- a/build3/stringify.sh
+++ b/build3/stringify.sh
@@ -51,18 +51,18 @@ eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/
 
 eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/Raycast/kernels/rayCastKernels.cl" --headerfile="../src/Bullet3OpenCL/Raycast/kernels/rayCastKernels.h" --stringname="rayCastKernelCL" stringify'
 
-eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../btgui/OpenGLWindow/Shaders/instancingVS.glsl" --headerfile="../btgui/OpenGLWindow/Shaders/instancingVS.h" --stringname="instancingVertexShader" stringify'
-eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../btgui/OpenGLWindow/Shaders/instancingPS.glsl" --headerfile="../btgui/OpenGLWindow/Shaders/instancingPS.h" --stringname="instancingFragmentShader" stringify'
-eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../btgui/OpenGLWindow/Shaders/pointSpriteVS.glsl" --headerfile="../btgui/OpenGLWindow/Shaders/pointSpriteVS.h" --stringname="pointSpriteVertexShader" stringify'
-eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../btgui/OpenGLWindow/Shaders/pointSpritePS.glsl" --headerfile="../btgui/OpenGLWindow/Shaders/pointSpritePS.h" --stringname="pointSpriteFragmentShader" stringify'
+eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/instancingVS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/instancingVS.h" --stringname="instancingVertexShader" stringify'
+eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/instancingPS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/instancingPS.h" --stringname="instancingFragmentShader" stringify'
+eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/pointSpriteVS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/pointSpriteVS.h" --stringname="pointSpriteVertexShader" stringify'
+eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/pointSpritePS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/pointSpritePS.h" --stringname="pointSpriteFragmentShader" stringify'
 
 
-eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../btgui/OpenGLWindow/Shaders/createShadowMapInstancingPS.glsl" --headerfile="../btgui/OpenGLWindow/Shaders/createShadowMapInstancingPS.h" --stringname="createShadowMapInstancingFragmentShader" stringify'
-eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../btgui/OpenGLWindow/Shaders/createShadowMapInstancingVS.glsl" --headerfile="../btgui/OpenGLWindow/Shaders/createShadowMapInstancingVS.h" --stringname="createShadowMapInstancingVertexShader" stringify'
+eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/createShadowMapInstancingPS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/createShadowMapInstancingPS.h" --stringname="createShadowMapInstancingFragmentShader" stringify'
+eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/createShadowMapInstancingVS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/createShadowMapInstancingVS.h" --stringname="createShadowMapInstancingVertexShader" stringify'
 
-eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../btgui/OpenGLWindow/Shaders/useShadowMapInstancingPS.glsl" --headerfile="../btgui/OpenGLWindow/Shaders/useShadowMapInstancingPS.h" --stringname="useShadowMapInstancingFragmentShader" stringify'
-eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../btgui/OpenGLWindow/Shaders/useShadowMapInstancingVS.glsl" --headerfile="../btgui/OpenGLWindow/Shaders/useShadowMapInstancingVS.h" --stringname="useShadowMapInstancingVertexShader" stringify'
-eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../Demos3/GpuDemos/broadphase/pairsKernel.cl" --headerfile="../Demos3/GpuDemos/broadphase/pairsKernel.h" --stringname="pairsKernelsCL" stringify'
+eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.h" --stringname="useShadowMapInstancingFragmentShader" stringify'
+eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/useShadowMapInstancingVS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/useShadowMapInstancingVS.h" --stringname="useShadowMapInstancingVertexShader" stringify'
+eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../examples/OpenCL/broadphase/pairsKernel.cl" --headerfile="../examples/OpenCL/broadphase/pairsKernel.h" --stringname="pairsKernelsCL" stringify'
 
 
 
diff --git a/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.h b/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.h
index 93b445cde..96c061eaf 100644
--- a/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.h
+++ b/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.h
@@ -1,5 +1,5 @@
 #ifndef B3_IMPORT_MESH_UTILITY_H
-#define B3_IMPORT_MESH_UTILIY_H
+#define B3_IMPORT_MESH_UTILITY_H
 
 #include <string>
 
diff --git a/examples/InverseDynamics/InverseDynamicsExample.cpp b/examples/InverseDynamics/InverseDynamicsExample.cpp
index f80edd9b4..0de9ef4c3 100644
--- a/examples/InverseDynamics/InverseDynamicsExample.cpp
+++ b/examples/InverseDynamics/InverseDynamicsExample.cpp
@@ -152,7 +152,6 @@ void InverseDynamicsExample::initPhysics()
    
     switch (m_option)
     {
-    case 0:
     case BT_ID_LOAD_URDF:
         {
 
@@ -348,4 +347,4 @@ CommonExampleInterface*    InverseDynamicsExampleCreateFunc(CommonExampleOptions
 
 
 
-B3_STANDALONE_EXAMPLE(InverseDynamicsExampleCreateFunc)
\ No newline at end of file
+B3_STANDALONE_EXAMPLE(InverseDynamicsExampleCreateFunc)
diff --git a/examples/RenderingExamples/TinyRendererSetup.cpp b/examples/RenderingExamples/TinyRendererSetup.cpp
index b638b4a3b..64b106d93 100644
--- a/examples/RenderingExamples/TinyRendererSetup.cpp
+++ b/examples/RenderingExamples/TinyRendererSetup.cpp
@@ -17,6 +17,70 @@
 #include "../OpenGLWindow/GLInstanceGraphicsShape.h"
 #include "../CommonInterfaces/CommonParameterInterface.h"
 
+
+struct TinyRendererSetupInternalData
+{
+	
+	TGAImage m_rgbColorBuffer;
+	b3AlignedObjectArray<float> m_depthBuffer;
+
+
+	int m_width;
+	int m_height;
+
+	btAlignedObjectArray<btConvexShape*> m_shapePtr;
+	btAlignedObjectArray<btTransform> m_transforms;
+	btAlignedObjectArray<TinyRenderObjectData*> m_renderObjects;
+
+	btVoronoiSimplexSolver	m_simplexSolver;
+	btScalar m_pitch;
+	btScalar m_roll;
+	btScalar m_yaw;
+	
+	int m_textureHandle;
+	int m_animateRenderer;
+
+	TinyRendererSetupInternalData(int width, int height)
+		:m_roll(0),
+		m_pitch(0),
+		m_yaw(0),
+
+		m_width(width),
+		m_height(height),
+		m_rgbColorBuffer(width,height,TGAImage::RGB),
+		m_textureHandle(0),
+		m_animateRenderer(0)
+	{
+		m_depthBuffer.resize(m_width*m_height);
+
+    }
+	void updateTransforms()
+	{
+		int numObjects = m_shapePtr.size();
+		m_transforms.resize(numObjects);
+		for (int i=0;i<numObjects;i++)
+		{
+			m_transforms[i].setIdentity();
+			//btVector3	pos(0.f,-(2.5* numObjects * 0.5)+i*2.5f, 0.f);
+			btVector3	pos(0.f,+i*2.5f, 0.f);
+			m_transforms[i].setIdentity();
+			m_transforms[i].setOrigin( pos );
+			btQuaternion orn;
+			if (i < 2)
+			{
+				orn.setEuler(m_yaw,m_pitch,m_roll);
+				m_transforms[i].setRotation(orn);
+			}
+		}
+		if (m_animateRenderer)
+        {
+            m_pitch += 0.005f;
+            m_yaw += 0.01f;
+		}
+	}
+
+};
+
 struct TinyRendererSetup : public CommonExampleInterface
 {
 	
@@ -24,6 +88,7 @@ struct TinyRendererSetup : public CommonExampleInterface
 	struct CommonGraphicsApp* m_app;
 	struct TinyRendererSetupInternalData* m_internalData;
     bool m_useSoftware;
+    
 
 	TinyRendererSetup(struct GUIHelperInterface* guiHelper);
 
@@ -50,78 +115,29 @@ struct TinyRendererSetup : public CommonExampleInterface
 	{
 	}
    
+    void animateRenderer(int animateRendererIndex)
+    {
+        m_internalData->m_animateRenderer = animateRendererIndex;
+    }
+   
+   
     void selectRenderer(int rendererIndex)
     {
         m_useSoftware = (rendererIndex==0);
     }
 };
 
-struct TinyRendererSetupInternalData
-{
-	
-	TGAImage m_rgbColorBuffer;
-	b3AlignedObjectArray<float> m_depthBuffer;
-
-
-	int m_width;
-	int m_height;
-
-	btAlignedObjectArray<btConvexShape*> m_shapePtr;
-	btAlignedObjectArray<btTransform> m_transforms;
-	btAlignedObjectArray<TinyRenderObjectData*> m_renderObjects;
-
-	btVoronoiSimplexSolver	m_simplexSolver;
-	btScalar m_pitch;
-	btScalar m_roll;
-	btScalar m_yaw;
-	
-	int m_textureHandle;
-
-	TinyRendererSetupInternalData(int width, int height)
-		:m_roll(0),
-		m_pitch(0),
-		m_yaw(0),
-
-		m_width(width),
-		m_height(height),
-		m_rgbColorBuffer(width,height,TGAImage::RGB),
-		m_textureHandle(0)
-	{
-		m_depthBuffer.resize(m_width*m_height);
-
-    }
-	void updateTransforms()
-	{
-		int numObjects = m_shapePtr.size();
-		m_transforms.resize(numObjects);
-		for (int i=0;i<numObjects;i++)
-		{
-			m_transforms[i].setIdentity();
-			//btVector3	pos(0.f,-(2.5* numObjects * 0.5)+i*2.5f, 0.f);
-			btVector3	pos(0.f,+i*2.5f, 0.f);
-			m_transforms[i].setIdentity();
-			m_transforms[i].setOrigin( pos );
-			btQuaternion orn;
-			if (i < 2)
-			{
-				orn.setEuler(m_yaw,m_pitch,m_roll);
-				m_transforms[i].setRotation(orn);
-			}
-		}
-		m_pitch += 0.005f;
-		m_yaw += 0.01f;
-	}
-
-};
 
 TinyRendererSetup::TinyRendererSetup(struct GUIHelperInterface* gui)
 {
     m_useSoftware = false;
+    
 	m_guiHelper = gui;
 	m_app = gui->getAppInterface();
 	m_internalData = new TinyRendererSetupInternalData(gui->getAppInterface()->m_window->getWidth(),gui->getAppInterface()->m_window->getHeight());
+	
 	m_app->m_renderer->enableBlend(true);
-	const char* fileName = "textured_sphere_smooth.obj";//cube.obj";
+	const char* fileName = "teddy.obj";//cube.obj";//textured_sphere_smooth.obj";//cube.obj";
 	
 
 	{
@@ -185,8 +201,28 @@ TinyRendererSetup::~TinyRendererSetup()
 	delete m_internalData;
 }
 
+
+const char* itemsanimate[] = {"Fixed", "Rotate"};
+void TinyRendererComboCallbackAnimate(int combobox, const char* item, void* userPointer)
+{
+    TinyRendererSetup* cl = (TinyRendererSetup*) userPointer;
+    b3Assert(cl);
+    int index=-1;
+    int numItems = sizeof(itemsanimate)/sizeof(char*);
+    for (int i=0;i<numItems;i++)
+    {
+        if (!strcmp(item,itemsanimate[i]))
+        {
+            index = i;
+        }
+    }
+    cl->animateRenderer(index);
+}
+
+
 const char* items[] = {"Software", "OpenGL"};
 
+
 void TinyRendererComboCallback(int combobox, const char* item, void* userPointer)
 {
     TinyRendererSetup* cl = (TinyRendererSetup*) userPointer;
@@ -204,7 +240,6 @@ void TinyRendererComboCallback(int combobox, const char* item, void* userPointer
 }
 
 
-
 void TinyRendererSetup::initPhysics()
 {
 	//request a visual bitma/texture we can render to
@@ -215,6 +250,7 @@ void TinyRendererSetup::initPhysics()
 	
 	m_internalData->m_textureHandle = render->registerTexture(m_internalData->m_rgbColorBuffer.buffer(),m_internalData->m_width,m_internalData->m_height);
     
+    {
     ComboBoxParams comboParams;
     comboParams.m_userPointer = this;
     comboParams.m_numItems=sizeof(items)/sizeof(char*);
@@ -222,7 +258,18 @@ void TinyRendererSetup::initPhysics()
     comboParams.m_items=items;
     comboParams.m_callback =TinyRendererComboCallback;
     m_guiHelper->getParameterInterface()->registerComboBox( comboParams);
+    }
+
+    {
     
+    ComboBoxParams comboParams;
+    comboParams.m_userPointer = this;
+    comboParams.m_numItems=sizeof(itemsanimate)/sizeof(char*);
+    comboParams.m_startItem = 0;
+    comboParams.m_items=itemsanimate;
+    comboParams.m_callback =TinyRendererComboCallbackAnimate;
+    m_guiHelper->getParameterInterface()->registerComboBox( comboParams);
+    }
     
 }
 
diff --git a/examples/TinyRenderer/TinyRenderer.cpp b/examples/TinyRenderer/TinyRenderer.cpp
index 251f91ced..38fff703d 100644
--- a/examples/TinyRenderer/TinyRenderer.cpp
+++ b/examples/TinyRenderer/TinyRenderer.cpp
@@ -19,7 +19,8 @@ struct Shader : public IShader {
     
     Model* m_model;
     Vec3f m_light_dir_local;
-    Matrix& m_modelView;
+    Matrix& m_modelMat;
+    Matrix& m_modelView1;
     Matrix& m_projectionMatrix;
     
     mat<2,3,float> varying_uv;  // triangle uv coordinates, written by the vertex shader, read by the fragment shader
@@ -27,11 +28,12 @@ struct Shader : public IShader {
     mat<3,3,float> varying_nrm; // normal per vertex to be interpolated by FS
     mat<3,3,float> ndc_tri;     // triangle in normalized device coordinates
 
-    Shader(Model* model, Vec3f light_dir_local, Matrix& modelView, Matrix& projectionMatrix)
+    Shader(Model* model, Vec3f light_dir_local, Matrix& modelView, Matrix& projectionMatrix, Matrix& modelMat)
     :m_model(model),
     m_light_dir_local(light_dir_local),
-    m_modelView(modelView),
-    m_projectionMatrix(projectionMatrix)
+    m_modelView1(modelView),
+    m_projectionMatrix(projectionMatrix),
+    m_modelMat(modelMat)
     {
         
     }
@@ -42,8 +44,9 @@ struct Shader : public IShader {
 		//printf("uv = %f,%f\n", uv.x,uv.y);
         varying_uv.set_col(nthvert, uv);
 		
-        varying_nrm.set_col(nthvert, proj<3>((m_projectionMatrix*m_modelView).invert_transpose()*embed<4>(m_model->normal(iface, nthvert), 0.f)));
-        Vec4f gl_Vertex = m_projectionMatrix*m_modelView*embed<4>(m_model->vert(iface, nthvert));
+        //varying_nrm.set_col(nthvert, proj<3>((m_projectionMatrix*m_modelView).invert_transpose()*embed<4>(m_model->normal(iface, nthvert), 0.f)));
+        varying_nrm.set_col(nthvert, proj<3>((m_modelMat).invert_transpose()*embed<4>(m_model->normal(iface, nthvert), 0.f)));
+        Vec4f gl_Vertex = m_projectionMatrix*m_modelView1*embed<4>(m_model->vert(iface, nthvert));
         varying_tri.set_col(nthvert, gl_Vertex);
         ndc_tri.set_col(nthvert, proj<3>(gl_Vertex/gl_Vertex[3]));
         return gl_Vertex;
@@ -69,9 +72,9 @@ struct Shader : public IShader {
         B.set_col(2, bn);
 
         Vec3f n = (B*m_model->normal(uv)).normalize();
-
-        float diff = 1;//b3Min(b3Max(0.f, n*0.3f),1.f);
-		//float diff = b3Min(b3Max(0.f, n*m_light_dir_local+0.3f),1.f);
+    
+        //float diff = 1;//b3Min(b3Max(0.f, n*0.3f),1.f);
+		float diff = b3Min(b3Max(0.f, bn*light_dir_world+0.3f),1.f);
 		//float diff = b3Max(0.f, n*m_light_dir_local);
         color = m_model->diffuse(uv)*diff;
 
@@ -256,7 +259,7 @@ void TinyRenderer::renderObject(TinyRenderObjectData& renderData)
     {
         Matrix modelViewMatrix = renderData.m_viewMatrix*renderData.m_modelMatrix;
         
-        Shader shader(model, light_dir_local, modelViewMatrix, renderData.m_projectionMatrix);
+        Shader shader(model, light_dir_local, modelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix);
         
 		
 		for (int i=0; i<model->nfaces(); i++) {
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index e61eecfcf..fc19f31a3 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -1,7 +1,6 @@
 #include "../SharedMemory/SharedMemoryInProcessPhysicsC_API.h"
 #include "../SharedMemory/PhysicsClientC_API.h"
 #include "../SharedMemory/PhysicsDirectC_API.h"
-#include "../SharedMemory/SharedMemoryInProcessPhysicsC_API.h"
 
 
 #ifdef __APPLE__
diff --git a/src/Bullet3OpenCL/NarrowphaseCollision/kernels/mprKernels.h b/src/Bullet3OpenCL/NarrowphaseCollision/kernels/mprKernels.h
index 7ed4b382c..3704a8914 100644
--- a/src/Bullet3OpenCL/NarrowphaseCollision/kernels/mprKernels.h
+++ b/src/Bullet3OpenCL/NarrowphaseCollision/kernels/mprKernels.h
@@ -404,17 +404,33 @@ static const char* mprKernelsCL= \
 "		int	m_compoundBvhIndex;\n"
 "	};\n"
 "	int m_shapeType;\n"
-"	int m_shapeIndex;\n"
+"	union\n"
+"	{\n"
+"		int m_shapeIndex;\n"
+"		float m_height;\n"
+"	};\n"
 "};\n"
 "typedef struct b3GpuChildShape b3GpuChildShape_t;\n"
 "struct b3GpuChildShape\n"
 "{\n"
 "	b3Float4	m_childPosition;\n"
 "	b3Quat		m_childOrientation;\n"
-"	int m_shapeIndex;\n"
-"	int m_unused0;\n"
-"	int m_unused1;\n"
-"	int m_unused2;\n"
+"	union\n"
+"	{\n"
+"		int			m_shapeIndex;//used for SHAPE_COMPOUND_OF_CONVEX_HULLS\n"
+"		int			m_capsuleAxis;\n"
+"	};\n"
+"	union \n"
+"	{\n"
+"		float		m_radius;//used for childshape of SHAPE_COMPOUND_OF_SPHERES or SHAPE_COMPOUND_OF_CAPSULES\n"
+"		int			m_numChildShapes;//used for compound shape\n"
+"	};\n"
+"	union \n"
+"	{\n"
+"		float		m_height;//used for childshape of SHAPE_COMPOUND_OF_CAPSULES\n"
+"		int	m_collidableShapeIndex;\n"
+"	};\n"
+"	int			m_shapeType;\n"
 "};\n"
 "struct b3CompoundOverlappingPair\n"
 "{\n"
diff --git a/src/Bullet3OpenCL/NarrowphaseCollision/kernels/satClipHullContacts.h b/src/Bullet3OpenCL/NarrowphaseCollision/kernels/satClipHullContacts.h
index f0ecfc785..f2acee16d 100644
--- a/src/Bullet3OpenCL/NarrowphaseCollision/kernels/satClipHullContacts.h
+++ b/src/Bullet3OpenCL/NarrowphaseCollision/kernels/satClipHullContacts.h
@@ -281,17 +281,33 @@ static const char* satClipKernelsCL= \
 "		int	m_compoundBvhIndex;\n"
 "	};\n"
 "	int m_shapeType;\n"
-"	int m_shapeIndex;\n"
+"	union\n"
+"	{\n"
+"		int m_shapeIndex;\n"
+"		float m_height;\n"
+"	};\n"
 "};\n"
 "typedef struct b3GpuChildShape b3GpuChildShape_t;\n"
 "struct b3GpuChildShape\n"
 "{\n"
 "	b3Float4	m_childPosition;\n"
 "	b3Quat		m_childOrientation;\n"
-"	int m_shapeIndex;\n"
-"	int m_unused0;\n"
-"	int m_unused1;\n"
-"	int m_unused2;\n"
+"	union\n"
+"	{\n"
+"		int			m_shapeIndex;//used for SHAPE_COMPOUND_OF_CONVEX_HULLS\n"
+"		int			m_capsuleAxis;\n"
+"	};\n"
+"	union \n"
+"	{\n"
+"		float		m_radius;//used for childshape of SHAPE_COMPOUND_OF_SPHERES or SHAPE_COMPOUND_OF_CAPSULES\n"
+"		int			m_numChildShapes;//used for compound shape\n"
+"	};\n"
+"	union \n"
+"	{\n"
+"		float		m_height;//used for childshape of SHAPE_COMPOUND_OF_CAPSULES\n"
+"		int	m_collidableShapeIndex;\n"
+"	};\n"
+"	int			m_shapeType;\n"
 "};\n"
 "struct b3CompoundOverlappingPair\n"
 "{\n"
diff --git a/src/Bullet3OpenCL/RigidBody/kernels/updateAabbsKernel.h b/src/Bullet3OpenCL/RigidBody/kernels/updateAabbsKernel.h
index d0b4ac9ba..d70e74017 100644
--- a/src/Bullet3OpenCL/RigidBody/kernels/updateAabbsKernel.h
+++ b/src/Bullet3OpenCL/RigidBody/kernels/updateAabbsKernel.h
@@ -363,17 +363,33 @@ static const char* updateAabbsKernelCL= \
 "		int	m_compoundBvhIndex;\n"
 "	};\n"
 "	int m_shapeType;\n"
-"	int m_shapeIndex;\n"
+"	union\n"
+"	{\n"
+"		int m_shapeIndex;\n"
+"		float m_height;\n"
+"	};\n"
 "};\n"
 "typedef struct b3GpuChildShape b3GpuChildShape_t;\n"
 "struct b3GpuChildShape\n"
 "{\n"
 "	b3Float4	m_childPosition;\n"
 "	b3Quat		m_childOrientation;\n"
-"	int m_shapeIndex;\n"
-"	int m_unused0;\n"
-"	int m_unused1;\n"
-"	int m_unused2;\n"
+"	union\n"
+"	{\n"
+"		int			m_shapeIndex;//used for SHAPE_COMPOUND_OF_CONVEX_HULLS\n"
+"		int			m_capsuleAxis;\n"
+"	};\n"
+"	union \n"
+"	{\n"
+"		float		m_radius;//used for childshape of SHAPE_COMPOUND_OF_SPHERES or SHAPE_COMPOUND_OF_CAPSULES\n"
+"		int			m_numChildShapes;//used for compound shape\n"
+"	};\n"
+"	union \n"
+"	{\n"
+"		float		m_height;//used for childshape of SHAPE_COMPOUND_OF_CAPSULES\n"
+"		int	m_collidableShapeIndex;\n"
+"	};\n"
+"	int			m_shapeType;\n"
 "};\n"
 "struct b3CompoundOverlappingPair\n"
 "{\n"