diff --git a/Demos/CMakeLists.txt b/Demos/CMakeLists.txt
index cdf36bd9e..56eace1e5 100644
--- a/Demos/CMakeLists.txt
+++ b/Demos/CMakeLists.txt
@@ -1,12 +1,20 @@
 if (CMAKE_SIZEOF_VOID_P MATCHES "8")
 SUBDIRS( OpenGL AllBulletDemos  ConvexDecompositionDemo Benchmarks HelloWorld
-CcdPhysicsDemo ConstraintDemo SliderConstraintDemo GenericJointDemo
+CcdPhysicsDemo ConstraintDemo SliderConstraintDemo GenericJointDemo Raytracer
 RagdollDemo ForkLiftDemo BasicDemo BspDemo MovingConcaveDemo VehicleDemo
-ColladaDemo UserCollisionAlgorithm CharacterDemo SoftDemo HeightFieldFluidDemo)
+ColladaDemo UserCollisionAlgorithm CharacterDemo SoftDemo HeightFieldFluidDemo
+CollisionInterfaceDemo ConcaveConvexcastDemo SimplexDemo DynamicControlDemo
+DoublePrecisionDemo ConcaveDemo CollisionDemo
+ContinuousConvexCollision ConcaveRaycastDemo GjkConvexCastDemo
+MultiMaterialDemo)
 else (CMAKE_SIZEOF_VOID_P MATCHES "8")
 SUBDIRS( OpenGL AllBulletDemos ConvexDecompositionDemo Benchmarks HelloWorld
-MultiThreadedDemo CcdPhysicsDemo ConstraintDemo SliderConstraintDemo
+MultiThreadedDemo CcdPhysicsDemo ConstraintDemo SliderConstraintDemo Raytracer
 GenericJointDemo RagdollDemo ForkLiftDemo BasicDemo BspDemo MovingConcaveDemo
 VehicleDemo ColladaDemo UserCollisionAlgorithm CharacterDemo SoftDemo
- HeightFieldFluidDemo)
+ HeightFieldFluidDemo
+CollisionInterfaceDemo ConcaveConvexcastDemo SimplexDemo DynamicControlDemo
+DoublePrecisionDemo ConcaveDemo CollisionDemo
+ContinuousConvexCollision ConcaveRaycastDemo GjkConvexCastDemo
+MultiMaterialDemo)
 endif (CMAKE_SIZEOF_VOID_P MATCHES "8")
diff --git a/Demos/CollisionDemo/CMakeLists.txt b/Demos/CollisionDemo/CMakeLists.txt
new file mode 100644
index 000000000..bafd17f2c
--- /dev/null
+++ b/Demos/CollisionDemo/CMakeLists.txt
@@ -0,0 +1,24 @@
+# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
+
+
+# For every executable you have with a main method you should have an add_executable line below.
+# For every add executable line you should list every .cpp and .h file you have associated with that executable.  
+
+
+
+# You shouldn't have to modify anything below this line 
+########################################################
+
+
+INCLUDE_DIRECTORIES(
+${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL }
+)
+
+LINK_LIBRARIES(
+OpenGLSupport BulletDynamics  BulletCollision LinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+)
+
+ADD_EXECUTABLE(AppCollisionDemo
+        CollisionDemo.cpp
+)
+
diff --git a/Demos/CollisionInterfaceDemo/CMakeLists.txt b/Demos/CollisionInterfaceDemo/CMakeLists.txt
new file mode 100644
index 000000000..58ef2150e
--- /dev/null
+++ b/Demos/CollisionInterfaceDemo/CMakeLists.txt
@@ -0,0 +1,24 @@
+# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
+
+
+# For every executable you have with a main method you should have an add_executable line below.
+# For every add executable line you should list every .cpp and .h file you have associated with that executable.  
+
+
+
+# You shouldn't have to modify anything below this line 
+########################################################
+
+
+INCLUDE_DIRECTORIES(
+${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL }
+)
+
+LINK_LIBRARIES(
+OpenGLSupport BulletDynamics  BulletCollision LinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+)
+
+ADD_EXECUTABLE(AppCollisionInterfaceDemo
+        CollisionInterfaceDemo.cpp
+)
+
diff --git a/Demos/ConcaveConvexcastDemo/CMakeLists.txt b/Demos/ConcaveConvexcastDemo/CMakeLists.txt
new file mode 100644
index 000000000..65f5c8669
--- /dev/null
+++ b/Demos/ConcaveConvexcastDemo/CMakeLists.txt
@@ -0,0 +1,25 @@
+# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
+
+
+# For every executable you have with a main method you should have an add_executable line below.
+# For every add executable line you should list every .cpp and .h file you have associated with that executable.  
+
+
+
+# You shouldn't have to modify anything below this line 
+########################################################
+
+
+INCLUDE_DIRECTORIES(
+${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL }
+)
+
+LINK_LIBRARIES(
+OpenGLSupport BulletDynamics  BulletCollision LinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+)
+
+ADD_EXECUTABLE(AppConcaveConvexCastDemo
+        ConcaveConvexcastDemo.cpp
+        main.cpp
+)
+
diff --git a/Demos/ConcaveDemo/CMakeLists.txt b/Demos/ConcaveDemo/CMakeLists.txt
new file mode 100644
index 000000000..33696264e
--- /dev/null
+++ b/Demos/ConcaveDemo/CMakeLists.txt
@@ -0,0 +1,25 @@
+# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
+
+
+# For every executable you have with a main method you should have an add_executable line below.
+# For every add executable line you should list every .cpp and .h file you have associated with that executable.  
+
+
+
+# You shouldn't have to modify anything below this line 
+########################################################
+
+
+INCLUDE_DIRECTORIES(
+${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL }
+)
+
+LINK_LIBRARIES(
+OpenGLSupport BulletDynamics  BulletCollision LinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+)
+
+ADD_EXECUTABLE(AppConcaveDemo
+        ConcavePhysicsDemo.cpp
+        main.cpp
+)
+
diff --git a/Demos/ConcaveRaycastDemo/CMakeLists.txt b/Demos/ConcaveRaycastDemo/CMakeLists.txt
new file mode 100644
index 000000000..10c136f69
--- /dev/null
+++ b/Demos/ConcaveRaycastDemo/CMakeLists.txt
@@ -0,0 +1,25 @@
+# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
+
+
+# For every executable you have with a main method you should have an add_executable line below.
+# For every add executable line you should list every .cpp and .h file you have associated with that executable.  
+
+
+
+# You shouldn't have to modify anything below this line 
+########################################################
+
+
+INCLUDE_DIRECTORIES(
+${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL }
+)
+
+LINK_LIBRARIES(
+OpenGLSupport BulletDynamics  BulletCollision LinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+)
+
+ADD_EXECUTABLE(AppConcaveRayCastDemo
+        ConcaveRaycastDemo.cpp
+        main.cpp
+)
+
diff --git a/Demos/ContinuousConvexCollision/CMakeLists.txt b/Demos/ContinuousConvexCollision/CMakeLists.txt
new file mode 100644
index 000000000..e8af700d2
--- /dev/null
+++ b/Demos/ContinuousConvexCollision/CMakeLists.txt
@@ -0,0 +1,24 @@
+# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
+
+
+# For every executable you have with a main method you should have an add_executable line below.
+# For every add executable line you should list every .cpp and .h file you have associated with that executable.  
+
+
+
+# You shouldn't have to modify anything below this line 
+########################################################
+
+
+INCLUDE_DIRECTORIES(
+${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL }
+)
+
+LINK_LIBRARIES(
+OpenGLSupport BulletDynamics  BulletCollision LinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+)
+
+ADD_EXECUTABLE(AppContinuousConvexCollisionDemo
+        ContinuousConvexCollisionDemo.cpp
+)
+
diff --git a/Demos/DoublePrecisionDemo/CMakeLists.txt b/Demos/DoublePrecisionDemo/CMakeLists.txt
new file mode 100644
index 000000000..34ba82089
--- /dev/null
+++ b/Demos/DoublePrecisionDemo/CMakeLists.txt
@@ -0,0 +1,24 @@
+# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
+
+
+# For every executable you have with a main method you should have an add_executable line below.
+# For every add executable line you should list every .cpp and .h file you have associated with that executable.  
+
+
+
+# You shouldn't have to modify anything below this line 
+########################################################
+
+
+INCLUDE_DIRECTORIES(
+${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL }
+)
+
+LINK_LIBRARIES(
+OpenGLSupport BulletDynamics  BulletCollision LinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+)
+
+ADD_EXECUTABLE(AppDoublePrecisionDemo
+        DoublePrecisionDemo.cpp
+)
+
diff --git a/Demos/DynamicControlDemo/CMakeLists.txt b/Demos/DynamicControlDemo/CMakeLists.txt
new file mode 100644
index 000000000..a46b8426b
--- /dev/null
+++ b/Demos/DynamicControlDemo/CMakeLists.txt
@@ -0,0 +1,25 @@
+# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
+
+
+# For every executable you have with a main method you should have an add_executable line below.
+# For every add executable line you should list every .cpp and .h file you have associated with that executable.  
+
+
+
+# You shouldn't have to modify anything below this line 
+########################################################
+
+
+INCLUDE_DIRECTORIES(
+${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL }
+)
+
+LINK_LIBRARIES(
+OpenGLSupport BulletDynamics  BulletCollision LinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+)
+
+ADD_EXECUTABLE(AppMotorDemo
+        MotorDemo.cpp
+        main.cpp
+)
+
diff --git a/Demos/GimpactTestDemo/CMakeLists.txt b/Demos/GimpactTestDemo/CMakeLists.txt
new file mode 100644
index 000000000..03dc37146
--- /dev/null
+++ b/Demos/GimpactTestDemo/CMakeLists.txt
@@ -0,0 +1,25 @@
+# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
+
+
+# For every executable you have with a main method you should have an add_executable line below.
+# For every add executable line you should list every .cpp and .h file you have associated with that executable.  
+
+
+
+# You shouldn't have to modify anything below this line 
+########################################################
+
+
+INCLUDE_DIRECTORIES(
+${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL }
+)
+
+LINK_LIBRARIES(
+OpenGLSupport BulletDynamics  BulletCollision LinearMath GIMPACTUtils ConvexDecomposition   ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+)
+
+ADD_EXECUTABLE(AppGimpactTestDemo
+        GimpactTestDemo.cpp
+        main.cpp
+)
+
diff --git a/Demos/GjkConvexCastDemo/CMakeLists.txt b/Demos/GjkConvexCastDemo/CMakeLists.txt
new file mode 100644
index 000000000..57b6c8b22
--- /dev/null
+++ b/Demos/GjkConvexCastDemo/CMakeLists.txt
@@ -0,0 +1,25 @@
+# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
+
+
+# For every executable you have with a main method you should have an add_executable line below.
+# For every add executable line you should list every .cpp and .h file you have associated with that executable.  
+
+
+
+# You shouldn't have to modify anything below this line 
+########################################################
+
+
+INCLUDE_DIRECTORIES(
+${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL }
+)
+
+LINK_LIBRARIES(
+OpenGLSupport BulletDynamics  BulletCollision LinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+)
+
+ADD_EXECUTABLE(AppLinearConvexCastDemo
+        LinearConvexCastDemo.cpp
+        main.cpp
+)
+
diff --git a/Demos/MultiMaterialDemo/CMakeLists.txt b/Demos/MultiMaterialDemo/CMakeLists.txt
new file mode 100644
index 000000000..5f5f3359a
--- /dev/null
+++ b/Demos/MultiMaterialDemo/CMakeLists.txt
@@ -0,0 +1,25 @@
+# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
+
+
+# For every executable you have with a main method you should have an add_executable line below.
+# For every add executable line you should list every .cpp and .h file you have associated with that executable.  
+
+
+
+# You shouldn't have to modify anything below this line 
+########################################################
+
+
+INCLUDE_DIRECTORIES(
+${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL }
+)
+
+LINK_LIBRARIES(
+OpenGLSupport BulletDynamics  BulletCollision LinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+)
+
+ADD_EXECUTABLE(AppMultiMaterialDemo
+        MultiMaterialDemo.cpp
+        main.cpp
+)
+
diff --git a/Demos/Raytracer/CMakeLists.txt b/Demos/Raytracer/CMakeLists.txt
new file mode 100644
index 000000000..de3790306
--- /dev/null
+++ b/Demos/Raytracer/CMakeLists.txt
@@ -0,0 +1,25 @@
+# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
+
+
+# For every executable you have with a main method you should have an add_executable line below.
+# For every add executable line you should list every .cpp and .h file you have associated with that executable.  
+
+
+
+# You shouldn't have to modify anything below this line 
+########################################################
+
+
+INCLUDE_DIRECTORIES(
+${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL }
+)
+
+LINK_LIBRARIES(
+OpenGLSupport BulletDynamics  BulletCollision LinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+)
+
+ADD_EXECUTABLE(AppRaytracer
+        Raytracer.cpp
+        main.cpp
+)
+
diff --git a/Demos/SimplexDemo/CMakeLists.txt b/Demos/SimplexDemo/CMakeLists.txt
new file mode 100644
index 000000000..052fc8055
--- /dev/null
+++ b/Demos/SimplexDemo/CMakeLists.txt
@@ -0,0 +1,24 @@
+# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
+
+
+# For every executable you have with a main method you should have an add_executable line below.
+# For every add executable line you should list every .cpp and .h file you have associated with that executable.  
+
+
+
+# You shouldn't have to modify anything below this line 
+########################################################
+
+
+INCLUDE_DIRECTORIES(
+${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL }
+)
+
+LINK_LIBRARIES(
+OpenGLSupport BulletDynamics  BulletCollision LinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+)
+
+ADD_EXECUTABLE(AppSimplexDemo
+        SimplexDemo.cpp
+)
+
diff --git a/src/LinearMath/btQuaternion.h b/src/LinearMath/btQuaternion.h
index cbeca2681..77cfb8c38 100644
--- a/src/LinearMath/btQuaternion.h
+++ b/src/LinearMath/btQuaternion.h
@@ -209,8 +209,17 @@ public:
 		return s;
 	}
 
+	/**@brief Return the axis of the rotation represented by this quaternion */
+	btVector3 getAxis() const
+	{
+		btScalar s_squared = btScalar(1.) - btPow(m_floats[3], btScalar(2.));
+		if (s_squared < btScalar(10.) * SIMD_EPSILON) //Check for divide by zero
+			return btVector3(1.0, 0.0, 0.0);  // Arbitrary
+		btScalar s = btSqrt(s_squared);
+		return btVector3(m_floats[0] / s, m_floats[1] / s, m_floats[2] / s);
+	}
 
-  /**@brief Return the inverse of this quaternion */
+	/**@brief Return the inverse of this quaternion */
 	btQuaternion inverse() const
 	{
 		return btQuaternion(-m_floats[0], -m_floats[1], -m_floats[2], m_floats[3]);