diff --git a/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp b/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
index b49036a5b..471479139 100644
--- a/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
+++ b/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
@@ -24,6 +24,9 @@ subject to the following restrictions:
 #include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
 #include "BulletCollision/CollisionShapes/btCompoundShape.h"
 #include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
+#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
+#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
+
 #include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
 #include "LinearMath/btAabbUtil2.h"
 #include "LinearMath/btQuickprof.h"
@@ -210,8 +213,8 @@ void	btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
 				btConvexShape* convexShape = (btConvexShape*) collisionShape;
 				btVoronoiSimplexSolver	simplexSolver;
 				btSubsimplexConvexCast convexCaster(castShape,convexShape,&simplexSolver);
-				//GjkConvexCast	convexCaster(castShape,convexShape,&simplexSolver);
-				//ContinuousConvexCollision convexCaster(castShape,convexShape,&simplexSolver,0);
+				//btGjkConvexCast	convexCaster(castShape,convexShape,&simplexSolver);
+				//btContinuousConvexCollision convexCaster(castShape,convexShape,&simplexSolver,0);
 				
 				if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,colObjWorldTransform,colObjWorldTransform,castResult))
 				{
diff --git a/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp b/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp
index 2c565734e..c6a2b396d 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp
+++ b/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp
@@ -26,7 +26,7 @@ subject to the following restrictions:
 
 
 
-btContinuousConvexCollision::btContinuousConvexCollision ( btConvexShape*	convexA,btConvexShape*	convexB,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* penetrationDepthSolver)
+btContinuousConvexCollision::btContinuousConvexCollision ( const btConvexShape*	convexA,const btConvexShape*	convexB,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* penetrationDepthSolver)
 :m_simplexSolver(simplexSolver),
 m_penetrationDepthSolver(penetrationDepthSolver),
 m_convexA(convexA),m_convexB(convexB)
@@ -93,7 +93,7 @@ bool	btContinuousConvexCollision::calcTimeOfImpact(
 		btGjkPairDetector::ClosestPointInput input;
 	
 		//we don't use margins during CCD
-		gjk.setIgnoreMargin(true);
+	//	gjk.setIgnoreMargin(true);
 
 		input.m_transformA = fromA;
 		input.m_transformB = fromB;
@@ -108,22 +108,26 @@ bool	btContinuousConvexCollision::calcTimeOfImpact(
 		btScalar dist;
 		dist = pointCollector1.m_distance;
 		n = pointCollector1.m_normalOnBInWorld;
-		
+
+	
+
 		//not close enough
 		while (dist > radius)
 		{
 			numIter++;
 			if (numIter > maxIter)
+			{
 				return false; //todo: report a failure
-
+			}
 			btScalar dLambda = btScalar(0.);
 
+				btScalar projectedLinearVelocity = (linVelB-linVelA).dot(n);
+
 			//calculate safe moving fraction from distance / (linear+rotational velocity)
 			
 			//btScalar clippedDist  = GEN_min(angularConservativeRadius,dist);
 			//btScalar clippedDist  = dist;
 			
-			btScalar projectedLinearVelocity = (linVelB-linVelA).dot(n);
 			
 			dLambda = dist / (projectedLinearVelocity+ maxAngularProjectedVelocity);
 
@@ -135,9 +139,14 @@ bool	btContinuousConvexCollision::calcTimeOfImpact(
 			if (lambda < btScalar(0.))
 				return false;
 
+
 			//todo: next check with relative epsilon
 			if (lambda <= lastLambda)
+			{
+				return false;
+				//n.setValue(0,0,0);
 				break;
+			}
 			lastLambda = lambda;
 
 			
@@ -163,11 +172,12 @@ bool	btContinuousConvexCollision::calcTimeOfImpact(
 				{
 					//degenerate ?!
 					result.m_fraction = lastLambda;
-					result.m_normal = n;
+					n = pointCollector.m_normalOnBInWorld;
+					result.m_normal=n;//.setValue(1,1,1);// = n;
 					return true;
 				}
 				c = pointCollector.m_pointInWorld;		
-				
+				n = pointCollector.m_normalOnBInWorld;
 				dist = pointCollector.m_distance;
 			} else
 			{
diff --git a/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h b/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h
index 9901bab4b..28c2b4d61 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h
+++ b/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h
@@ -30,13 +30,13 @@ class btContinuousConvexCollision : public btConvexCast
 {
 	btSimplexSolverInterface* m_simplexSolver;
 	btConvexPenetrationDepthSolver*	m_penetrationDepthSolver;
-	btConvexShape*	m_convexA;
-	btConvexShape*	m_convexB;
+	const btConvexShape*	m_convexA;
+	const btConvexShape*	m_convexB;
 
 
 public:
 
-	btContinuousConvexCollision (btConvexShape*	shapeA,btConvexShape*	shapeB ,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver);
+	btContinuousConvexCollision (const btConvexShape*	shapeA,const btConvexShape*	shapeB ,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver);
 
 	virtual bool	calcTimeOfImpact(
 				const btTransform& fromA,
diff --git a/src/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h b/src/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h
index 7caeba4be..24fe84bd5 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h
+++ b/src/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h
@@ -31,7 +31,7 @@ public:
 	
 	virtual ~btConvexPenetrationDepthSolver() {};
 	virtual bool calcPenDepth( btSimplexSolverInterface& simplexSolver,
-		btConvexShape* convexA,btConvexShape* convexB,
+		const btConvexShape* convexA,const btConvexShape* convexB,
 					const btTransform& transA,const btTransform& transB,
 				btVector3& v, btPoint3& pa, btPoint3& pb,
 				class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc
diff --git a/src/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp b/src/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp
index 93edffeaf..da2a02b98 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp
+++ b/src/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp
@@ -22,7 +22,7 @@ subject to the following restrictions:
 #include "btPointCollector.h"
 
 
-btGjkConvexCast::btGjkConvexCast(btConvexShape* convexA,btConvexShape* convexB,btSimplexSolverInterface* simplexSolver)
+btGjkConvexCast::btGjkConvexCast(const btConvexShape* convexA,const btConvexShape* convexB,btSimplexSolverInterface* simplexSolver)
 :m_simplexSolver(simplexSolver),
 m_convexA(convexA),
 m_convexB(convexB)
diff --git a/src/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h b/src/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h
index 3905c45e6..4983ef835 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h
+++ b/src/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h
@@ -30,12 +30,12 @@ class btMinkowskiSumShape;
 class btGjkConvexCast : public btConvexCast
 {
 	btSimplexSolverInterface*	m_simplexSolver;
-	btConvexShape*	m_convexA;
-	btConvexShape*	m_convexB;
+	const btConvexShape*	m_convexA;
+	const btConvexShape*	m_convexB;
 
 public:
 
-	btGjkConvexCast(btConvexShape*	convexA,btConvexShape* convexB,btSimplexSolverInterface* simplexSolver);
+	btGjkConvexCast(const btConvexShape*	convexA,const btConvexShape* convexB,btSimplexSolverInterface* simplexSolver);
 
 	/// cast a convex against another convex object
 	virtual bool	calcTimeOfImpact(
diff --git a/src/BulletCollision/NarrowPhaseCollision/btGjkEpa.cpp b/src/BulletCollision/NarrowPhaseCollision/btGjkEpa.cpp
index 8a7ea8bb5..14f2c0e07 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btGjkEpa.cpp
+++ b/src/BulletCollision/NarrowPhaseCollision/btGjkEpa.cpp
@@ -580,8 +580,8 @@ using namespace	gjkepa_impl;
 
 
 //
-bool	btGjkEpaSolver::Collide(btConvexShape *shape0,const btTransform &wtrs0,
-								btConvexShape *shape1,const btTransform &wtrs1,
+bool	btGjkEpaSolver::Collide(const btConvexShape *shape0,const btTransform &wtrs0,
+								const btConvexShape *shape1,const btTransform &wtrs1,
 								btScalar	radialmargin,
 								btStackAlloc* stackAlloc,
 								sResults&	results)
diff --git a/src/BulletCollision/NarrowPhaseCollision/btGjkEpa.h b/src/BulletCollision/NarrowPhaseCollision/btGjkEpa.h
index 103fc093f..7e1b2f575 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btGjkEpa.h
+++ b/src/BulletCollision/NarrowPhaseCollision/btGjkEpa.h
@@ -43,8 +43,8 @@ struct	sResults
 	int	epa_iterations;
 	int	gjk_iterations;
 	};
-static bool	Collide(btConvexShape* shape0,const btTransform& wtrs0,
-					btConvexShape* shape1,const btTransform& wtrs1,
+static bool	Collide(const btConvexShape* shape0,const btTransform& wtrs0,
+					const btConvexShape* shape1,const btTransform& wtrs1,
 					btScalar	radialmargin,
 					btStackAlloc* stackAlloc,
 					sResults&	results);
diff --git a/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp b/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
index 3fc8c3dcc..f4cf11dd8 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
+++ b/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
@@ -20,7 +20,7 @@ subject to the following restrictions:
 #include "BulletCollision/NarrowPhaseCollision/btGjkEpa.h"
 
 bool btGjkEpaPenetrationDepthSolver::calcPenDepth( btSimplexSolverInterface& simplexSolver,
-											  btConvexShape* pConvexA, btConvexShape* pConvexB,
+											  const btConvexShape* pConvexA, const btConvexShape* pConvexB,
 											  const btTransform& transformA, const btTransform& transformB,
 											  btVector3& v, btPoint3& wWitnessOnA, btPoint3& wWitnessOnB,
 											  class btIDebugDraw* debugDraw, btStackAlloc* stackAlloc )
diff --git a/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h b/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h
index e75d20ef9..c3bde339e 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h
+++ b/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h
@@ -26,7 +26,7 @@ class btGjkEpaPenetrationDepthSolver : public btConvexPenetrationDepthSolver
 	public :
 
 		bool			calcPenDepth( btSimplexSolverInterface& simplexSolver,
-									  btConvexShape* pConvexA, btConvexShape* pConvexB,
+									  const btConvexShape* pConvexA, const btConvexShape* pConvexB,
 									  const btTransform& transformA, const btTransform& transformB,
 									  btVector3& v, btPoint3& wWitnessOnA, btPoint3& wWitnessOnB,
 									  class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc );
diff --git a/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp b/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
index f1f3f7f7f..c5f50d4dd 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
+++ b/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
@@ -35,7 +35,7 @@ int gNumGjkChecks = 0;
 
 
 
-btGjkPairDetector::btGjkPairDetector(btConvexShape* objectA,btConvexShape* objectB,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver*	penetrationDepthSolver)
+btGjkPairDetector::btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver*	penetrationDepthSolver)
 :m_cachedSeparatingAxis(btScalar(0.),btScalar(0.),btScalar(1.)),
 m_penetrationDepthSolver(penetrationDepthSolver),
 m_simplexSolver(simplexSolver),
diff --git a/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h b/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h
index af0fe32f6..81d4d5421 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h
+++ b/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h
@@ -35,8 +35,8 @@ class btGjkPairDetector : public btDiscreteCollisionDetectorInterface
 	btVector3	m_cachedSeparatingAxis;
 	btConvexPenetrationDepthSolver*	m_penetrationDepthSolver;
 	btSimplexSolverInterface* m_simplexSolver;
-	btConvexShape* m_minkowskiA;
-	btConvexShape* m_minkowskiB;
+	const btConvexShape* m_minkowskiA;
+	const btConvexShape* m_minkowskiB;
 	bool		m_ignoreMargin;
 	
 
@@ -49,7 +49,7 @@ public:
 	int			m_catchDegeneracies;
 
 
-	btGjkPairDetector(btConvexShape* objectA,btConvexShape* objectB,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver*	penetrationDepthSolver);
+	btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver*	penetrationDepthSolver);
 	virtual ~btGjkPairDetector() {};
 
 	virtual void	getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw);
diff --git a/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp b/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
index c4bab3a13..ced137315 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
+++ b/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
@@ -71,7 +71,7 @@ btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654))
 
 
 bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& simplexSolver,
-												   btConvexShape* convexA,btConvexShape* convexB,
+												   const btConvexShape* convexA,const btConvexShape* convexB,
 												   const btTransform& transA,const btTransform& transB,
 												   btVector3& v, btPoint3& pa, btPoint3& pb,
 												   class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc
diff --git a/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h b/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h
index b348b21b5..27b42c2b4 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h
+++ b/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h
@@ -25,7 +25,7 @@ class btMinkowskiPenetrationDepthSolver : public btConvexPenetrationDepthSolver
 public:
 
 	virtual bool calcPenDepth( btSimplexSolverInterface& simplexSolver,
-	btConvexShape* convexA,btConvexShape* convexB,
+	const btConvexShape* convexA,const btConvexShape* convexB,
 				const btTransform& transA,const btTransform& transB,
 			btVector3& v, btPoint3& pa, btPoint3& pb,
 			class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc