diff --git a/Demos/OpenGL/DemoApplication.cpp b/Demos/OpenGL/DemoApplication.cpp
index 65be34f1b..bf15d6183 100644
--- a/Demos/OpenGL/DemoApplication.cpp
+++ b/Demos/OpenGL/DemoApplication.cpp
@@ -877,7 +877,7 @@ void	DemoApplication::mouseMotionFunc(int x,int y)
 		else if(m_mouseButtons & 1) 
 		{
 			m_azi += dx * 0.2;
-			m_azi = fmodf(m_azi, 180.f);
+			m_azi = fmodf(m_azi, 360.f);
 			m_ele += dy * 0.2;
 			m_ele = fmodf(m_ele, 180.f);
 		} 
diff --git a/msvc/8/libbulletopenglsupport.vcproj b/msvc/8/libbulletopenglsupport.vcproj
index 084b82711..bd0fe03e7 100644
--- a/msvc/8/libbulletopenglsupport.vcproj
+++ b/msvc/8/libbulletopenglsupport.vcproj
@@ -1,4 +1,4 @@
-<?xml version="1.0" encoding = "Windows-1252"?>
+<?xml version="1.0" encoding="Windows-1252"?>
 <VisualStudioProject
 	ProjectType="Visual C++"
 	Version="8.00"
@@ -494,6 +494,22 @@
 				RelativePath="..\..\Demos\OpenGL\Win32DemoApplication.h">
 			</File>
 		</Filter>
+		<File
+			RelativePath="..\..\Demos\OpenGL\GL_DialogDynamicsWorld.cpp"
+			>
+		</File>
+		<File
+			RelativePath="..\..\Demos\OpenGL\GL_DialogDynamicsWorld.h"
+			>
+		</File>
+		<File
+			RelativePath="..\..\Demos\OpenGL\GL_DialogWindow.cpp"
+			>
+		</File>
+		<File
+			RelativePath="..\..\Demos\OpenGL\GL_DialogWindow.h"
+			>
+		</File>
 	</Files>
 	<Globals>
 	</Globals>
diff --git a/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp b/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp
index c802bea2b..8600dbfbf 100644
--- a/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp
+++ b/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp
@@ -333,9 +333,9 @@ int dBoxBox2 (const btVector3& p1, const dMatrix3 R1,
 #undef TST
 #define TST(expr1,expr2,n1,n2,n3,cc) \
   s2 = btFabs(expr1) - (expr2); \
-  if (s2 > 0) return 0; \
+  if (s2 > SIMD_EPSILON) return 0; \
   l = btSqrt((n1)*(n1) + (n2)*(n2) + (n3)*(n3)); \
-  if (l > 0) { \
+  if (l > SIMD_EPSILON) { \
     s2 /= l; \
     if (s2*fudge_factor > s) { \
       s = s2; \
diff --git a/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp b/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
index c637231c4..2cd7b1c41 100644
--- a/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
+++ b/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
@@ -222,7 +222,6 @@ void	btHingeConstraint::buildJacobian()
 		
 		btPlaneSpace1(m_rbAFrame.getBasis().getColumn(2),jointAxis0local,jointAxis1local);
 
-		getRigidBodyA().getCenterOfMassTransform().getBasis() * m_rbAFrame.getBasis().getColumn(2);
 		btVector3 jointAxis0 = getRigidBodyA().getCenterOfMassTransform().getBasis() * jointAxis0local;
 		btVector3 jointAxis1 = getRigidBodyA().getCenterOfMassTransform().getBasis() * jointAxis1local;
 		btVector3 hingeAxisWorld = getRigidBodyA().getCenterOfMassTransform().getBasis() * m_rbAFrame.getBasis().getColumn(2);
diff --git a/src/LinearMath/btScalar.h b/src/LinearMath/btScalar.h
index 67dce56e9..fe658a459 100644
--- a/src/LinearMath/btScalar.h
+++ b/src/LinearMath/btScalar.h
@@ -213,8 +213,8 @@ SIMD_FORCE_INLINE btScalar btFabs(btScalar x) { return fabs(x); }
 SIMD_FORCE_INLINE btScalar btCos(btScalar x) { return cos(x); }
 SIMD_FORCE_INLINE btScalar btSin(btScalar x) { return sin(x); }
 SIMD_FORCE_INLINE btScalar btTan(btScalar x) { return tan(x); }
-SIMD_FORCE_INLINE btScalar btAcos(btScalar x) { return acos(x); }
-SIMD_FORCE_INLINE btScalar btAsin(btScalar x) { return asin(x); }
+SIMD_FORCE_INLINE btScalar btAcos(btScalar x) { if (x<btScalar(-1))	x=btScalar(-1); if (x>btScalar(1))	x=btScalar(1); return acos(x); }
+SIMD_FORCE_INLINE btScalar btAsin(btScalar x) { if (x<btScalar(-1))	x=btScalar(-1); if (x>btScalar(1))	x=btScalar(1); return asin(x); }
 SIMD_FORCE_INLINE btScalar btAtan(btScalar x) { return atan(x); }
 SIMD_FORCE_INLINE btScalar btAtan2(btScalar x, btScalar y) { return atan2(x, y); }
 SIMD_FORCE_INLINE btScalar btExp(btScalar x) { return exp(x); }
@@ -250,9 +250,13 @@ SIMD_FORCE_INLINE btScalar btSin(btScalar x) { return sinf(x); }
 SIMD_FORCE_INLINE btScalar btTan(btScalar x) { return tanf(x); }
 SIMD_FORCE_INLINE btScalar btAcos(btScalar x) { 
 	btAssert(x <= btScalar(1.));
+	if (x<btScalar(-1))	x=btScalar(-1); if (x>btScalar(1))	x=btScalar(1);
 	return acosf(x); 
 }
-SIMD_FORCE_INLINE btScalar btAsin(btScalar x) { return asinf(x); }
+SIMD_FORCE_INLINE btScalar btAsin(btScalar x) { 
+	if (x<btScalar(-1))	x=btScalar(-1); if (x>btScalar(1))	x=btScalar(1);
+	return asinf(x); 
+}
 SIMD_FORCE_INLINE btScalar btAtan(btScalar x) { return atanf(x); }
 SIMD_FORCE_INLINE btScalar btAtan2(btScalar x, btScalar y) { return atan2f(x, y); }
 SIMD_FORCE_INLINE btScalar btExp(btScalar x) { return expf(x); }