diff --git a/VERSION b/VERSION
index 5206452b6..afbce2d01 100644
--- a/VERSION
+++ b/VERSION
@@ -1,3 +1,3 @@
-Bullet Collision Detection and Physics Library version 2.12
+Bullet Collision Detection and Physics Library version 2.20
 http://bullet.sourceforge.net
 
diff --git a/changes.txt b/changes.txt
index 591b27c42..7d135eec3 100644
--- a/changes.txt
+++ b/changes.txt
@@ -1,6 +1,20 @@
 Bullet Continuous Collision Detection and Physics Library
 Erwin Coumans
 
+2006 Oct 30
+	Enable built-in realtime simulation with fixed timestep + interpolation based on btMotionState
+	Enabled raycast vehicle demo (still needs tuning)
+	Refresh contact points, even when they are already persistent.
+	Fixed debugDraw colors (thanks pc0de for reporting)
+	Use Dispatcher in ConcaveConvexCollisionAlgorithm (so it uses the registered collision algorithm, not hardcoded convexconcave)
+	Improved performance of constraint solver by precalculating the cross product/impulse arm
+	Added collision comparison code: ODE box-box, also sphere-triangle
+	Added safety check into GJK, and an assert for AABB's that are very large
+	Fixed kinematic support (deriving velocities for animated objects)
+	Updated comparison/optional quickstep solver in Extras
+	UserCollisionAlgorithm demonstrates btTriangleMesh usage (easier trimesh compared to index array version)
+	Removed scaling from btTransform (we only want to deal with rigid transforms)
+	
 2006 Oct 4
 	Fixed minor leak in btOptimizeBVH
 	Cleanup of btRigidBody construction
diff --git a/configure.ac b/configure.ac
index 83f408b57..11ae971a6 100644
--- a/configure.ac
+++ b/configure.ac
@@ -9,7 +9,7 @@ AC_PREREQ([2.54])
 #----------------------------------------------------------------------------
 AC_INIT(
     [bullet],
-    [2.12],
+    [2.20],
     [bullet@erwincoumans.com])
 CS_PACKAGEINFO(
     [Bullet Continuous Collision Detection and Physics Library],