diff --git a/Demos/Box2dDemo/Box2dDemo.cpp b/Demos/Box2dDemo/Box2dDemo.cpp
index a0d2d731a..c94f2943f 100644
--- a/Demos/Box2dDemo/Box2dDemo.cpp
+++ b/Demos/Box2dDemo/Box2dDemo.cpp
@@ -97,7 +97,7 @@ void	Box2dDemo::initPhysics()
 	///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
 	m_dispatcher = new	btCollisionDispatcher(m_collisionConfiguration);
 
-	m_dispatcher->registerCollisionCreateFunc(BOX_SHAPE_PROXYTYPE,BOX_SHAPE_PROXYTYPE,new btEmptyAlgorithm::CreateFunc);
+	
 	m_dispatcher->registerCollisionCreateFunc(CUSTOM_CONVEX_SHAPE_TYPE,CUSTOM_CONVEX_SHAPE_TYPE,new btBox2dBox2dCollisionAlgorithm::CreateFunc);
 
 	m_broadphase = new btDbvtBroadphase();
diff --git a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
index 294bc95f8..63c5b8843 100644
--- a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
+++ b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
@@ -619,9 +619,6 @@ void	btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
 						if (!(infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION) && lat_rel_vel > SIMD_EPSILON)
 						{
 							cp.m_lateralFrictionDir1 /= btSqrt(lat_rel_vel);
-							applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1);
-							applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1);
-							addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
 							if((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
 							{
 								cp.m_lateralFrictionDir2 = cp.m_lateralFrictionDir1.cross(cp.m_normalWorldOnB);
@@ -630,21 +627,26 @@ void	btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
 								applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2);
 								addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
 							}
+
+							applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1);
+							applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1);
+							addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
 							cp.m_lateralFrictionInitialized = true;
 						} else
 						{
 							//re-calculate friction direction every frame, todo: check if this is really needed
 							btPlaneSpace1(cp.m_normalWorldOnB,cp.m_lateralFrictionDir1,cp.m_lateralFrictionDir2);
-							applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1);
-							applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1);
-
-							addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
 							if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
 							{
 								applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2);
 								applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2);
 								addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
 							}
+
+							applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1);
+							applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1);
+							addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
+
 							cp.m_lateralFrictionInitialized = true;
 						}
 
@@ -1090,7 +1092,6 @@ btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bod
 	int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
 	int j;
 
-	//copy back the applied impulses for contacts
 	for (j=0;j<numPoolConstraints;j++)
 	{
 
@@ -1107,39 +1108,6 @@ btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bod
 		//do a callback here?
 	}
 
-	int currentRow = 0;
-	int totalNumRows = m_tmpSolverNonContactConstraintPool.size();
-#if 1
-	//copy back the applied impulses for joints
-	for (i=0;i<numConstraints;i++)
-	{
-		btTypedConstraint* constraint = constraints[i];
-		if (constraint->needsFeedback())
-		{
-			const btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i];
-			if (info1.m_numConstraintRows)
-			{
-				btAssert(currentRow<totalNumRows);
-				btSolverConstraint* currentConstraintRow = &m_tmpSolverNonContactConstraintPool[currentRow];
-				
-				constraint->getAppliedLinearImpulse().setValue(0,0,0);
-				constraint->getAppliedAngularImpulseA().setValue(0,0,0);
-				constraint->getAppliedAngularImpulseB().setValue(0,0,0);
-				int j;
-				btScalar maxAppliedImpulse(0.);
-				for ( j=0;j<info1.m_numConstraintRows;j++)
-				{
-					btSetMax(maxAppliedImpulse,(btScalar)currentConstraintRow[i].m_appliedImpulse);
-					constraint->getAppliedLinearImpulse() += currentConstraintRow[i].m_contactNormal*currentConstraintRow[i].m_appliedImpulse;
-					constraint->getAppliedAngularImpulseA() += currentConstraintRow[i].m_relpos1CrossNormal*currentConstraintRow[i].m_appliedImpulse;
-					constraint->getAppliedAngularImpulseB() += currentConstraintRow[i].m_relpos2CrossNormal*currentConstraintRow[i].m_appliedImpulse;
-				}
-				constraint->internalSetAppliedImpulse(maxAppliedImpulse);
-			}
-		}
-		currentRow+=m_tmpConstraintSizesPool[i].m_numConstraintRows;
-	}
-#endif 
 	if (infoGlobal.m_splitImpulse)
 	{		
 		for ( i=0;i<m_tmpSolverBodyPool.size();i++)
diff --git a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
index 41b9f1f3f..f1a808dcb 100644
--- a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
+++ b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
@@ -64,7 +64,8 @@ btDiscreteDynamicsWorld::btDiscreteDynamicsWorld(btDispatcher* dispatcher,btBroa
 m_constraintSolver(constraintSolver),
 m_gravity(0,-10,0),
 m_localTime(btScalar(1.)/btScalar(60.)),
-m_profileTimings(0)
+m_profileTimings(0),
+m_synchronizeAllMotionStates(false)
 {
 	if (!m_constraintSolver)
 	{
@@ -264,8 +265,19 @@ void	btDiscreteDynamicsWorld::synchronizeSingleMotionState(btRigidBody* body)
 void	btDiscreteDynamicsWorld::synchronizeMotionStates()
 {
 	BT_PROFILE("synchronizeMotionStates");
+	if (m_synchronizeAllMotionStates)
 	{
-		//todo: iterate over awake simulation islands!
+		//iterate  over all collision objects
+		for ( int i=0;i<m_collisionObjects.size();i++)
+		{
+			btCollisionObject* colObj = m_collisionObjects[i];
+			btRigidBody* body = btRigidBody::upcast(colObj);
+			if (body)
+				synchronizeSingleMotionState(body);
+		}
+	} else
+	{
+		//iterate over all active rigid bodies
 		for ( int i=0;i<m_nonStaticRigidBodies.size();i++)
 		{
 			btRigidBody* body = m_nonStaticRigidBodies[i];
@@ -273,21 +285,6 @@ void	btDiscreteDynamicsWorld::synchronizeMotionStates()
 				synchronizeSingleMotionState(body);
 		}
 	}
-/*
-	if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe)
-	{
-		for ( int i=0;i<this->m_vehicles.size();i++)
-		{
-			for (int v=0;v<m_vehicles[i]->getNumWheels();v++)
-			{
-				//synchronize the wheels with the (interpolated) chassis worldtransform
-				m_vehicles[i]->updateWheelTransform(v,true);
-			}
-		}
-	}
-	*/
-
-
 }
 
 
@@ -438,6 +435,9 @@ void	btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body)
 		if (!body->isStaticObject())
 		{
 			m_nonStaticRigidBodies.push_back(body);
+		} else
+		{
+			body->setActivationState(ISLAND_SLEEPING);
 		}
 
 		bool isDynamic = !(body->isStaticObject() || body->isKinematicObject());
@@ -460,6 +460,10 @@ void	btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body, short group, short
 		if (!body->isStaticObject())
 		{
 			m_nonStaticRigidBodies.push_back(body);
+		}
+		 else
+		{
+			body->setActivationState(ISLAND_SLEEPING);
 		}
 		addCollisionObject(body,group,mask);
 	}
diff --git a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
index f5c866b3d..58508a2ca 100644
--- a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
+++ b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
@@ -52,6 +52,7 @@ protected:
 
 	bool	m_ownsIslandManager;
 	bool	m_ownsConstraintSolver;
+	bool	m_synchronizeAllMotionStates;
 
 	btAlignedObjectArray<btActionInterface*>	m_actions;
 	
@@ -177,6 +178,15 @@ public:
 	///obsolete, use removeAction instead
 	virtual void	removeCharacter(btActionInterface* character);
 
+	void	setSynchronizeAllMotionStates(bool synchronizeAll)
+	{
+		m_synchronizeAllMotionStates = synchronizeAll;
+	}
+	bool getSynchronizeAllMotionStates() const
+	{
+		return m_synchronizeAllMotionStates;
+	}
+
 };
 
 #endif //BT_DISCRETE_DYNAMICS_WORLD_H