diff --git a/Demos/CMakeLists.txt b/Demos/CMakeLists.txt
index a271c17c8..0b6040ba0 100644
--- a/Demos/CMakeLists.txt
+++ b/Demos/CMakeLists.txt
@@ -1,2 +1,2 @@
-SUBDIRS( OpenGL AllBulletDemos ConvexDecompositionDemo Benchmarks HelloWorld MultiThreadedDemo CcdPhysicsDemo ConstraintDemo GenericJointDemo RagdollDemo BasicDemo BspDemo MovingConcaveDemo VehicleDemo ColladaDemo UserCollisionAlgorithm CharacterDemo SoftBodyDemo )
+SUBDIRS( OpenGL AllBulletDemos ConvexDecompositionDemo Benchmarks HelloWorld MultiThreadedDemo CcdPhysicsDemo ConstraintDemo GenericJointDemo RagdollDemo BasicDemo BspDemo MovingConcaveDemo VehicleDemo ColladaDemo UserCollisionAlgorithm CharacterDemo SoftDemo )
 
diff --git a/Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp b/Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
index f29999c2a..d275a1d0f 100644
--- a/Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
+++ b/Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
@@ -20,7 +20,6 @@ subject to the following restrictions:
 //Note: some of those settings need 'DO_WALL' demo
 //#define USE_KINEMATIC_GROUND 1
 //#define PRINT_CONTACT_STATISTICS 1
-//#define REGISTER_BOX_BOX 1 //needs to be used in combination with REGISTER_CUSTOM_COLLISION_ALGORITHM
 //#define USER_DEFINED_FRICTION_MODEL 1
 //#define USE_CUSTOM_NEAR_CALLBACK 1
 //#define CENTER_OF_MASS_SHIFT 1
@@ -29,16 +28,12 @@ subject to the following restrictions:
 //#define USE_PARALLEL_SOLVER 1 //experimental parallel solver
 //#define USE_PARALLEL_DISPATCHER 1
 
-//following define allows to compare/replace Bullet's constraint solver with ODE quickstep
-//this define requires to either add the libquickstep library (win32, see msvc/8/libquickstep.vcproj) or manually add the files from Extras/quickstep
+//from Bullet 2.68 onwards ODE Quickstep constraint solver is optional part of Bullet, re-distributed under the ZLib license with permission of Russell L. Smith
 //#define COMPARE_WITH_QUICKSTEP 1
 
 
 #include "btBulletDynamicsCommon.h"
 #include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h"
-#ifdef REGISTER_BOX_BOX
-#include "../Extras/AlternativeCollisionAlgorithms/BoxBoxCollisionAlgorithm.h"
-#endif //REGISTER_BOX_BOX
 #include "BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h"
 
 #ifdef USE_PARALLEL_DISPATCHER
@@ -60,9 +55,6 @@ subject to the following restrictions:
 #endif//USE_PARALLEL_DISPATCHER
 
 
-#ifdef COMPARE_WITH_QUICKSTEP
-#include "../Extras/quickstep/OdeConstraintSolver.h"
-#endif //COMPARE_WITH_QUICKSTEP
 
 #include "LinearMath/btQuickprof.h"
 #include "LinearMath/btIDebugDraw.h"
@@ -419,12 +411,9 @@ int maxNumOutstandingTasks = 4;
 //	m_broadphase = new btSimpleBroadphase;
 	
 	//box-box is in Extras/AlternativeCollisionAlgorithms:it requires inclusion of those files
-#ifdef REGISTER_BOX_BOX
-	m_dispatcher->registerCollisionCreateFunc(BOX_SHAPE_PROXYTYPE,BOX_SHAPE_PROXYTYPE,new BoxBoxCollisionAlgorithm::CreateFunc);
-#endif //REGISTER_BOX_BOX
 
 #ifdef COMPARE_WITH_QUICKSTEP
-	m_solver = new OdeConstraintSolver();
+	m_solver = new btOdeQuickstepConstraintSolver();
 #else
 
 	
diff --git a/Demos/Jamfile b/Demos/Jamfile
index 84b8eccf7..7a3929c8a 100644
--- a/Demos/Jamfile
+++ b/Demos/Jamfile
@@ -82,7 +82,7 @@ SubInclude TOP Demos ConcaveDemo ;
 SubInclude TOP Demos ConstraintDemo ;
 SubInclude TOP Demos RagdollDemo ;
 SubInclude TOP Demos GenericJointDemo ;
-SubInclude TOP Demos SoftBodyDemo ;
+SubInclude TOP Demos SoftDemo ;
 SubInclude TOP Demos ContinuousConvexCollision ;
 SubInclude TOP Demos GjkConvexCastDemo ;
 SubInclude TOP Demos Raytracer ;
diff --git a/Demos/SoftDemo/Jamfile b/Demos/SoftDemo/Jamfile
index ec446deca..3e765a81f 100644
--- a/Demos/SoftDemo/Jamfile
+++ b/Demos/SoftDemo/Jamfile
@@ -1,3 +1,3 @@
-SubDir TOP Demos SoftBodyDemo ;
+SubDir TOP Demos SoftDemo ;
 
 BulletDemo SoftBodyDemo : [ Wildcard *.h *.cpp  ] ;
diff --git a/Demos/SoftDemo/SoftDemo.cpp b/Demos/SoftDemo/SoftDemo.cpp
index 3d8234c69..bf3065c6b 100644
--- a/Demos/SoftDemo/SoftDemo.cpp
+++ b/Demos/SoftDemo/SoftDemo.cpp
@@ -23,8 +23,8 @@ subject to the following restrictions:
 #include "LinearMath/btQuickprof.h"
 #include "LinearMath/btIDebugDraw.h"
 #include "BMF_Api.h"
-#include "demos\gimpacttestdemo\bunnymesh.h"
-#include "demos\gimpacttestdemo\torusmesh.h"
+#include "../GimpactTestDemo/BunnyMesh.h"
+#include "../GimpactTestDemo/TorusMesh.h"
 #include <stdio.h> //printf debugging
 
 static float	gCollisionMargin = 0.05f/*0.05f*/;
diff --git a/src/BulletDynamics/CMakeLists.txt b/src/BulletDynamics/CMakeLists.txt
index a5d95e7f8..fc04f0636 100644
--- a/src/BulletDynamics/CMakeLists.txt
+++ b/src/BulletDynamics/CMakeLists.txt
@@ -24,6 +24,7 @@ ADD_LIBRARY(LibBulletDynamics
 	ConstraintSolver/btOdeContactJoint.h
 	ConstraintSolver/btOdeJoint.cpp
 	ConstraintSolver/btOdeJoint.h
+	ConstraintSolver/btOdeSolverBody.h
 	ConstraintSolver/btOdeQuickstepConstraintSolver.cpp
 	ConstraintSolver/btOdeQuickstepConstraintSolver.h
 	ConstraintSolver/btOdeTypedJoint.cpp
@@ -43,4 +44,8 @@ ADD_LIBRARY(LibBulletDynamics
 	Vehicle/btRaycastVehicle.h
 	Vehicle/btWheelInfo.cpp
 	Vehicle/btWheelInfo.h
+	btSoftBody.cpp
+	btSoftBody.h
+	btSoftBodyHelpers.cpp
+	btSparseSDF.h
 )
diff --git a/src/BulletDynamics/ConstraintSolver/btOdeSolverBody.cpp b/src/BulletDynamics/ConstraintSolver/btOdeSolverBody.cpp
deleted file mode 100644
index e69de29bb..000000000
diff --git a/src/BulletDynamics/Jamfile b/src/BulletDynamics/Jamfile
index 10ea43b79..11f7ba7f5 100644
--- a/src/BulletDynamics/Jamfile
+++ b/src/BulletDynamics/Jamfile
@@ -3,6 +3,7 @@ SubDir TOP src BulletDynamics ;
 Description bulletdynamics : "Bullet Rigidbody Dynamics" ;
 Library bulletdynamics : 
   [ Wildcard ConstraintSolver : *.h *.cpp ] 
+  [ Wildcard SoftBody : *.h *.cpp ]
   [ Wildcard Dynamics : *.h *.cpp ] 
   [ Wildcard Vehicle : *.h *.cpp ] 
 ;
diff --git a/src/BulletDynamics/SoftBody/btSparseSDF.h b/src/BulletDynamics/SoftBody/btSparseSDF.h
index 91f0e4a20..c36067853 100644
--- a/src/BulletDynamics/SoftBody/btSparseSDF.h
+++ b/src/BulletDynamics/SoftBody/btSparseSDF.h
@@ -17,6 +17,9 @@ subject to the following restrictions:
 #ifndef _14F9D17F_EAE8_4aba_B41C_292DB2AA70F3_
 #define _14F9D17F_EAE8_4aba_B41C_292DB2AA70F3_
 
+#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
+#include "BulletCollision/NarrowphaseCollision/btGjkEpa2.h"
+
 template <const int CELLSIZE>
 struct	btSparseSdf
 	{
@@ -310,4 +313,4 @@ struct	btSparseSdf
 		}
 	};
 
-#endif
\ No newline at end of file
+#endif