diff --git a/CMakeLists.txt b/CMakeLists.txt
index 65ea21e1e..74cd3c291 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,7 +1,57 @@
+cmake_minimum_required(VERSION 2.4)
+
 PROJECT(BULLET_PHYSICS)
 
 IF (NOT CMAKE_BUILD_TYPE)
  SET(CMAKE_BUILD_TYPE "Release")
 ENDIF (NOT CMAKE_BUILD_TYPE) 
 
+ 
+  
+IF(COMMAND cmake_policy)
+   cmake_policy(SET CMP0003 NEW)
+ENDIF(COMMAND cmake_policy)
+   
+
+# This is the shortcut to finding GLU, GLUT and OpenGL if they are properly installed on your system
+# This should be the case.
+
+FIND_PACKAGE(OpenGL)
+IF (OPENGL_FOUND)
+MESSAGE("OPENGL FOUND")
+MESSAGE(${OPENGL_LIBRARIES})
+ELSE (OPENGL_FOUND)
+MESSAGE("OPENGL NOT FOUND")
+SET(OPENGL_gl_LIBRARY opengl32)
+SET(OPENGL_glu_LIBRARY glu32)
+ENDIF (OPENGL_FOUND)
+
+FIND_PACKAGE(GLU)
+
+FIND_PACKAGE(GLUT)
+IF (GLUT_FOUND)
+MESSAGE("GLUT FOUND")
+MESSAGE(${GLUT_glut_LIBRARY})
+ELSE (GLUT_FOUND)
+
+IF (MINGW)
+MESSAGE ("GLUT NOT FOUND not found, trying to use MINGW glut32")
+SET(GLUT_glut_LIBRARY glut32)
+ENDIF (MINGW)
+
+IF (MSVC)
+MESSAGE ("GLUT NOT FOUND, trying to use Bullet/Glut/glut32.lib for MSVC")
+SET(GLUT_glut_LIBRARY ${BULLET_PHYSICS_SOURCE_DIR}/Glut/glut32.lib)
+ENDIF (MSVC)
+ENDIF (GLUT_FOUND)
+
+
+IF (WIN32)
+  INCLUDE_DIRECTORIES(${BULLET_PHYSICS_SOURCE_DIR}/Glut)
+ELSE (WIN32)
+  # This is the lines for linux.  This should always work if everything is installed and working fine.
+  INCLUDE_DIRECTORIES(/usr/include /usr/local/include ${GLUT_INCLUDE_DIR}) 
+ENDIF (WIN32)
+
+
 SUBDIRS(src Demos Extras)
diff --git a/Demos/AllBulletDemos/CMakeLists.txt b/Demos/AllBulletDemos/CMakeLists.txt
index 7fc028cc0..3d09c4de1 100644
--- a/Demos/AllBulletDemos/CMakeLists.txt
+++ b/Demos/AllBulletDemos/CMakeLists.txt
@@ -5,57 +5,21 @@
 # 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})
-   LINK_LIBRARIES(AllBulletDemos pthread)
-ENDIF (WIN32)
 
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/Extras/BulletColladaConverter ${BULLET_PHYSICS_SOURCE_DIR}/Extras  ${BULLET_PHYSICS_SOURCE_DIR}/Extras/GIMPACT/include ${BULLET_PHYSICS_SOURCE_DIR}/Extras/GIMPACTUtils  ${BULLET_PHYSICS_SOURCE_DIR}/Extras/ConvexDecomposition  ${BULLET_PHYSICS_SOURCE_DIR}/Extras/LibXML ${BULLET_PHYSICS_SOURCE_DIR}/Extras/LibXML/include ${BULLET_PHYSICS_SOURCE_DIR}/Extras/COLLADA_DOM/include/1.4 ${BULLET_PHYSICS_SOURCE_DIR}/Extras/COLLADA_DOM/include ${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL }
 )
 
 LINK_LIBRARIES(
-LibBulletColladaConverter LibGLUI  LibGIMPACTUtils LibGIMPACT LibConvexDecomposition LibColladaDom LibXML LibOpenGLSupport  LibBulletSoftBody LibBulletDynamics LibBulletCollision LibLinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+LibBulletColladaConverter LibGLUI  LibGIMPACTUtils LibGIMPACT LibConvexDecomposition LibColladaDom LibXML LibOpenGLSupport  LibBulletSoftBody LibBulletDynamics LibBulletCollision LibLinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
 )
 
+
+
 ADD_EXECUTABLE(AllBulletDemos
 	Main.cpp
 	DemoEntries.cpp
diff --git a/Demos/BasicDemo/CMakeLists.txt b/Demos/BasicDemo/CMakeLists.txt
index be7e84bed..32c667510 100644
--- a/Demos/BasicDemo/CMakeLists.txt
+++ b/Demos/BasicDemo/CMakeLists.txt
@@ -11,42 +11,6 @@ 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 }
 )
diff --git a/Demos/Benchmarks/CMakeLists.txt b/Demos/Benchmarks/CMakeLists.txt
index 5b4227394..fd5c76fd9 100644
--- a/Demos/Benchmarks/CMakeLists.txt
+++ b/Demos/Benchmarks/CMakeLists.txt
@@ -5,47 +5,10 @@
 # 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 }
diff --git a/Demos/BspDemo/CMakeLists.txt b/Demos/BspDemo/CMakeLists.txt
index 3d7bb54dc..f3a6572f6 100644
--- a/Demos/BspDemo/CMakeLists.txt
+++ b/Demos/BspDemo/CMakeLists.txt
@@ -5,48 +5,10 @@
 # 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  }
 )
diff --git a/Demos/CcdPhysicsDemo/CMakeLists.txt b/Demos/CcdPhysicsDemo/CMakeLists.txt
index b30a05796..8bae751ae 100644
--- a/Demos/CcdPhysicsDemo/CMakeLists.txt
+++ b/Demos/CcdPhysicsDemo/CMakeLists.txt
@@ -5,47 +5,11 @@
 # 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 }
diff --git a/Demos/CharacterDemo/CMakeLists.txt b/Demos/CharacterDemo/CMakeLists.txt
index 368b669de..506cfce83 100644
--- a/Demos/CharacterDemo/CMakeLists.txt
+++ b/Demos/CharacterDemo/CMakeLists.txt
@@ -5,48 +5,10 @@
 # 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 }
 )
@@ -56,8 +18,11 @@ LINK_LIBRARIES(
 )
 
 ADD_EXECUTABLE(CharacterDemo
-	CharacterController.cpp
-	CharacterController.h
+	KinematicCharacterController.cpp
+	DynamicCharacterController.cpp
+	KinematicCharacterController.h
+	DynamicCharacterController.h
+	CharacterControllerInterface.h
 	CharacterDemo.cpp
 	CharacterDemo.h
 	main.cpp
diff --git a/Demos/ColladaDemo/CMakeLists.txt b/Demos/ColladaDemo/CMakeLists.txt
index f3e86627c..41c8c392f 100644
--- a/Demos/ColladaDemo/CMakeLists.txt
+++ b/Demos/ColladaDemo/CMakeLists.txt
@@ -5,47 +5,11 @@
 # 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}/Extras/BulletColladaConverter  ${BULLET_PHYSICS_SOURCE_DIR}/Extras/LibXML ${BULLET_PHYSICS_SOURCE_DIR}/Extras/LibXML/include ${BULLET_PHYSICS_SOURCE_DIR}/Extras/COLLADA_DOM/include/1.4 ${BULLET_PHYSICS_SOURCE_DIR}/Extras/COLLADA_DOM/include ${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL }
diff --git a/Demos/ConstraintDemo/CMakeLists.txt b/Demos/ConstraintDemo/CMakeLists.txt
index 85e72b442..b6c23352c 100644
--- a/Demos/ConstraintDemo/CMakeLists.txt
+++ b/Demos/ConstraintDemo/CMakeLists.txt
@@ -5,47 +5,11 @@
 # 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 }
diff --git a/Demos/GenericJointDemo/CMakeLists.txt b/Demos/GenericJointDemo/CMakeLists.txt
index 705091646..b8f8af7bf 100644
--- a/Demos/GenericJointDemo/CMakeLists.txt
+++ b/Demos/GenericJointDemo/CMakeLists.txt
@@ -5,48 +5,11 @@
 # 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 }
 )
diff --git a/Demos/MultiThreadedDemo/CMakeLists.txt b/Demos/MultiThreadedDemo/CMakeLists.txt
index c96c18471..ce4bc7edf 100644
--- a/Demos/MultiThreadedDemo/CMakeLists.txt
+++ b/Demos/MultiThreadedDemo/CMakeLists.txt
@@ -5,49 +5,11 @@
 # 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}) 
-  LINK_LIBRARIES(MultiThreadedDemo pthread)
-#  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 }
 )
diff --git a/Demos/OpenGL/CMakeLists.txt b/Demos/OpenGL/CMakeLists.txt
index aa5c8ee84..04ed5abd4 100644
--- a/Demos/OpenGL/CMakeLists.txt
+++ b/Demos/OpenGL/CMakeLists.txt
@@ -5,47 +5,14 @@
 # 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 (${GLUT_glut_LIBRARY} MATCHES "GLUT_glut_LIBRARY-NOTFOUND")
- #   LINK_LIBRARIES(${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}/Extras/ConvexHull  }
 )
diff --git a/Demos/RagdollDemo/CMakeLists.txt b/Demos/RagdollDemo/CMakeLists.txt
index 02c9188aa..fd5915e5b 100644
--- a/Demos/RagdollDemo/CMakeLists.txt
+++ b/Demos/RagdollDemo/CMakeLists.txt
@@ -5,47 +5,10 @@
 # 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 }
diff --git a/Demos/SliderConstraintDemo/CMakeLists.txt b/Demos/SliderConstraintDemo/CMakeLists.txt
index 64e9d363a..8cbed81d6 100644
--- a/Demos/SliderConstraintDemo/CMakeLists.txt
+++ b/Demos/SliderConstraintDemo/CMakeLists.txt
@@ -5,47 +5,11 @@
 # 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 }
diff --git a/Demos/SoftDemo/CMakeLists.txt b/Demos/SoftDemo/CMakeLists.txt
index 7538e7c57..a8bea3563 100644
--- a/Demos/SoftDemo/CMakeLists.txt
+++ b/Demos/SoftDemo/CMakeLists.txt
@@ -5,47 +5,12 @@
 # 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 }
diff --git a/Demos/UserCollisionAlgorithm/CMakeLists.txt b/Demos/UserCollisionAlgorithm/CMakeLists.txt
index f0db6ea20..901cd0f8f 100644
--- a/Demos/UserCollisionAlgorithm/CMakeLists.txt
+++ b/Demos/UserCollisionAlgorithm/CMakeLists.txt
@@ -5,47 +5,11 @@
 # 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  }
diff --git a/Demos/VehicleDemo/CMakeLists.txt b/Demos/VehicleDemo/CMakeLists.txt
index fae6839b0..9c345c8e5 100644
--- a/Demos/VehicleDemo/CMakeLists.txt
+++ b/Demos/VehicleDemo/CMakeLists.txt
@@ -5,47 +5,11 @@
 # 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 }