diff --git a/Demos/ForkLiftDemo/Makefile.am b/Demos/ForkLiftDemo/Makefile.am
new file mode 100644
index 000000000..588373493
--- /dev/null
+++ b/Demos/ForkLiftDemo/Makefile.am
@@ -0,0 +1,5 @@
+noinst_PROGRAMS=ForkLiftDemo
+
+ForkLiftDemo_SOURCES=ForkLiftDemo.cpp ForkLiftDemo.h main.cpp
+ForkLiftDemo_CXXFLAGS=-I@top_builddir@/src -I@top_builddir@/Demos/OpenGL $(CXXFLAGS)
+ForkLiftDemo_LDADD=-L../OpenGL -lbulletopenglsupport -L../../src -lBulletDynamics -lBulletCollision -lLinearMath @opengl_LIBS@
diff --git a/Demos/Makefile.am b/Demos/Makefile.am
index 5091e00a7..1b33d726c 100644
--- a/Demos/Makefile.am
+++ b/Demos/Makefile.am
@@ -1,5 +1,5 @@
 if CONDITIONAL_BUILD_MULTITHREADED
-SUBDIRS=OpenGL BasicDemo FeatherstoneMultiBodyDemo TerrainDemo VehicleDemo CcdPhysicsDemo MultiThreadedDemo SoftDemo AllBulletDemos
+SUBDIRS=OpenGL BasicDemo ForkLiftDemo FeatherstoneMultiBodyDemo TerrainDemo VehicleDemo CcdPhysicsDemo MultiThreadedDemo SoftDemo AllBulletDemos
 else
-SUBDIRS=OpenGL BasicDemo FeatherstoneMultiBodyDemo TerrainDemo VehicleDemo CcdPhysicsDemo SoftDemo AllBulletDemos
+SUBDIRS=OpenGL BasicDemo ForkLiftDemo FeatherstoneMultiBodyDemo TerrainDemo VehicleDemo CcdPhysicsDemo SoftDemo AllBulletDemos
 endif
diff --git a/configure.ac b/configure.ac
index be72f830f..3e9780b80 100644
--- a/configure.ac
+++ b/configure.ac
@@ -163,7 +163,7 @@ CXXFLAGS="$ARCH_SPECIFIC_CFLAGS $CXXFLAGS $CFLAGS"
 #----------------------------------------------------------------------------
 # Emit generated files.
 #----------------------------------------------------------------------------
-AC_CONFIG_FILES([bullet.pc Makefile Demos/Makefile Demos/SoftDemo/Makefile Demos/AllBulletDemos/Makefile Demos/MultiThreadedDemo/Makefile  Demos/OpenGL/Makefile Demos/BasicDemo/Makefile Demos/CcdPhysicsDemo/Makefile Demos/VehicleDemo/Makefile Demos/TerrainDemo/Makefile src/Makefile Extras/Makefile])
+AC_CONFIG_FILES([bullet.pc Makefile Demos/Makefile Demos/SoftDemo/Makefile Demos/AllBulletDemos/Makefile Demos/MultiThreadedDemo/Makefile  Demos/OpenGL/Makefile  Demos/ForkLiftDemo/Makefile Demos/FeatherstoneMultiBodyDemo/Makefile Demos/BasicDemo/Makefile Demos/CcdPhysicsDemo/Makefile Demos/VehicleDemo/Makefile Demos/TerrainDemo/Makefile src/Makefile Extras/Makefile])
 AC_OUTPUT
 
 AC_MSG_NOTICE([
diff --git a/src/Makefile.am b/src/Makefile.am
index d65ed32c1..0ecb5c9f5 100644
--- a/src/Makefile.am
+++ b/src/Makefile.am
@@ -362,9 +362,13 @@ libBulletDynamics_la_SOURCES = \
 		BulletDynamics/Vehicle/btVehicleRaycaster.h \
 		BulletDynamics/Vehicle/btRaycastVehicle.h \
 		BulletDynamics/Vehicle/btWheelInfo.h \
-		BulletDynamics/Featherstone/btMultiBody.cpp
+		BulletDynamics/Featherstone/btMultiBody.cpp \
 		BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp \
 		BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp \
+		BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp \
+		BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp \
+		BulletDynamics/Featherstone/btMultiBodyJointMotor.h \
+                BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h \
 		BulletDynamics/Featherstone/btMultiBody.h \
 		BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h \
 		BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h \
@@ -374,7 +378,17 @@ libBulletDynamics_la_SOURCES = \
 		BulletDynamics/Featherstone/btMultiBodyConstraint.h \
 		BulletDynamics/Featherstone/btMultiBodyPoint2Point.h \
 		BulletDynamics/Featherstone/btMultiBodyConstraint.cpp \
-		BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp
+		BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp \
+		BulletDynamics/MLCPSolvers/btDantzigLCP.cpp \
+                BulletDynamics/MLCPSolvers/btMLCPSolver.cpp \
+		BulletDynamics/MLCPSolvers/btDantzigLCP.h \
+        	BulletDynamics/MLCPSolvers/btDantzigSolver.h \
+        	BulletDynamics/MLCPSolvers/btMLCPSolver.h \
+        	BulletDynamics/MLCPSolvers/btMLCPSolverInterface.h \
+        	BulletDynamics/MLCPSolvers/btPATHSolver.h \
+        	BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h
+
+
 
 
 libBulletSoftBody_la_SOURCES = \
@@ -444,6 +458,12 @@ nobase_bullet_include_HEADERS += \
 	BulletDynamics/Featherstone/btMultiBodySolverConstraint.h \
 	BulletDynamics/Featherstone/btMultiBodyConstraint.h \
 	BulletDynamics/Featherstone/btMultiBodyPoint2Point.h \
+	BulletDynamics/MLCPSolvers/btDantzigLCP.h \
+        BulletDynamics/MLCPSolvers/btDantzigSolver.h \
+        BulletDynamics/MLCPSolvers/btMLCPSolver.h \
+        BulletDynamics/MLCPSolvers/btMLCPSolverInterface.h \
+        BulletDynamics/MLCPSolvers/btPATHSolver.h \
+        BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h \
 	BulletCollision/CollisionShapes/btShapeHull.h \
 	BulletCollision/CollisionShapes/btConcaveShape.h \
 	BulletCollision/CollisionShapes/btCollisionMargin.h \