diff --git a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
index e4bc94fc7..07de199de 100644
--- a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
+++ b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
@@ -526,7 +526,8 @@ int	btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject&
 	} else
 	{
 		btRigidBody* rb = btRigidBody::upcast(&body);
-		if (rb && rb->getInvMass())
+		//convert both active and kinematic objects (for their velocity)
+		if (rb && (rb->getInvMass() || rb->isKinematicObject()))
 		{
 			solverBodyIdA = m_tmpSolverBodyPool.size();
 			btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
diff --git a/src/BulletDynamics/Dynamics/btRigidBody.cpp b/src/BulletDynamics/Dynamics/btRigidBody.cpp
index 93b3a4a21..222f90066 100644
--- a/src/BulletDynamics/Dynamics/btRigidBody.cpp
+++ b/src/BulletDynamics/Dynamics/btRigidBody.cpp
@@ -78,6 +78,7 @@ void	btRigidBody::setupRigidBody(const btRigidBody::btRigidBodyConstructionInfo&
 	
 	//moved to btCollisionObject
 	m_friction = constructionInfo.m_friction;
+	m_rollingFriction = constructionInfo.m_rollingFriction;
 	m_restitution = constructionInfo.m_restitution;
 
 	setCollisionShape( constructionInfo.m_collisionShape );
diff --git a/src/BulletDynamics/Dynamics/btRigidBody.h b/src/BulletDynamics/Dynamics/btRigidBody.h
index a62066381..c5bf63b4c 100644
--- a/src/BulletDynamics/Dynamics/btRigidBody.h
+++ b/src/BulletDynamics/Dynamics/btRigidBody.h
@@ -129,6 +129,9 @@ public:
 
 		///best simulation results when friction is non-zero
 		btScalar			m_friction;
+		///the m_rollingFriction prevents rounded shapes, such as spheres, cylinders and capsules from rolling forever.
+		///See Bullet/Demos/RollingFrictionDemo for usage
+		btScalar			m_rollingFriction;
 		///best simulation results using zero restitution.
 		btScalar			m_restitution;
 
@@ -151,6 +154,7 @@ public:
 			m_linearDamping(btScalar(0.)),
 			m_angularDamping(btScalar(0.)),
 			m_friction(btScalar(0.5)),
+			m_rollingFriction(btScalar(0)),
 			m_restitution(btScalar(0.)),
 			m_linearSleepingThreshold(btScalar(0.8)),
 			m_angularSleepingThreshold(btScalar(1.f)),