diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 1b3cac5c4..726abebac 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -1220,6 +1220,274 @@ static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args)
 	return NULL;
 }
 
+static PyObject* pybullet_setJointMotorControlArray(PyObject* self, PyObject* args, PyObject* keywds)
+{
+	int bodyIndex,  controlMode;
+	PyObject* jointIndicesObj = 0;
+	PyObject* targetPositionsObj = 0;
+	PyObject* targetVelocitiesObj = 0;
+	PyObject* forcesObj = 0;
+	PyObject* kpsObj = 0;
+	PyObject* kdsObj = 0;
+
+	b3PhysicsClientHandle sm = 0;
+
+	int physicsClientId = 0;
+	static char* kwlist[] = {"bodyIndex", "jointIndices", "controlMode", "targetPositions", "targetVelocities", "forces", "positionGains", "velocityGains", "physicsClientId", NULL};
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "iOi|OOOOOi", kwlist, &bodyIndex, &jointIndicesObj, &controlMode,
+									 &targetPositionsObj, &targetVelocitiesObj, &forcesObj, &kpsObj, &kdsObj, &physicsClientId))
+	{
+		return NULL;
+	}
+	sm = getPhysicsClient(physicsClientId);
+	if (sm == 0)
+	{
+		PyErr_SetString(SpamError, "Not connected to physics server.");
+		return NULL;
+	}
+
+	{
+		
+		int numJoints;
+		int i;
+		b3SharedMemoryCommandHandle commandHandle;
+		b3SharedMemoryStatusHandle statusHandle;
+		struct b3JointInfo info;
+		int numControlledDofs = 0;
+		PyObject* jointIndicesSeq = 0;
+		PyObject* targetVelocitiesSeq = 0;
+		PyObject* targetPositionsSeq = 0;
+		PyObject* forcesSeq = 0;
+		PyObject* kpsSeq = 0;
+		PyObject* kdsSeq = 0;
+
+		numJoints = b3GetNumJoints(sm, bodyIndex);
+		
+		if ((controlMode != CONTROL_MODE_VELOCITY) &&
+			(controlMode != CONTROL_MODE_TORQUE) &&
+			(controlMode != CONTROL_MODE_POSITION_VELOCITY_PD))
+		{
+			PyErr_SetString(SpamError, "Illegral control mode.");
+			return NULL;
+		}
+
+		jointIndicesSeq =  PySequence_Fast(jointIndicesObj, "expected a sequence of joint indices");
+
+		if (jointIndicesSeq==0)
+		{
+			PyErr_SetString(SpamError, "expected a sequence of joint indices");
+			return NULL;
+		}
+		
+		numControlledDofs = PySequence_Size(jointIndicesObj);
+		if (numControlledDofs==0)
+		{
+			Py_DECREF(jointIndicesSeq);
+			Py_INCREF(Py_None);
+			return Py_None;
+		}
+		
+		{
+			int i;
+			for (i = 0; i < numControlledDofs; i++)
+			{
+				int jointIndex = pybullet_internalGetFloatFromSequence(jointIndicesSeq, i);
+				if ((jointIndex >= numJoints) || (jointIndex < 0))
+				{
+					Py_DECREF(jointIndicesSeq);
+					PyErr_SetString(SpamError, "Joint index out-of-range.");
+					return NULL;
+				}
+			}
+		}
+
+		if (targetVelocitiesObj)
+		{
+			int num = PySequence_Size(targetVelocitiesObj);
+			if (num != numControlledDofs)
+			{
+				Py_DECREF(jointIndicesSeq);
+				PyErr_SetString(SpamError, "number of target velocies should match the number of joint indices");
+				return NULL;
+			}
+			targetVelocitiesSeq =  PySequence_Fast(targetVelocitiesObj, "expected a sequence of target velocities");
+		}
+		
+		if (targetPositionsObj)
+		{
+			int num = PySequence_Size(targetPositionsObj);
+			if (num != numControlledDofs)
+			{
+				Py_DECREF(jointIndicesSeq);
+				if (targetVelocitiesSeq)
+				{
+					Py_DECREF(targetVelocitiesSeq);
+				}
+				PyErr_SetString(SpamError, "number of target positions should match the number of joint indices");
+				return NULL;
+			}
+			
+			targetPositionsSeq =  PySequence_Fast(targetPositionsObj, "expected a sequence of target positions");
+		}
+		
+		if (forcesObj)
+		{
+			int num = PySequence_Size(forcesObj);
+			if (num != numControlledDofs)
+			{
+				Py_DECREF(jointIndicesSeq);
+				if (targetVelocitiesSeq)
+				{
+					Py_DECREF(targetVelocitiesSeq);
+				}
+				if (targetPositionsSeq)
+				{
+					Py_DECREF(targetPositionsSeq);
+				}
+				
+				PyErr_SetString(SpamError, "number of forces should match the joint indices");
+				return NULL;
+			}
+			
+			forcesSeq =  PySequence_Fast(forcesObj, "expected a sequence of forces");
+		}
+
+		
+		if (kpsObj)
+		{
+			int num = PySequence_Size(kpsObj);
+			if (num != numControlledDofs)
+			{
+				Py_DECREF(jointIndicesSeq);
+				if (targetVelocitiesSeq)
+				{
+					Py_DECREF(targetVelocitiesSeq);
+				}
+				if (targetPositionsSeq)
+				{
+					Py_DECREF(targetPositionsSeq);
+				}
+				if (forcesSeq)
+				{
+					Py_DECREF(forcesSeq);
+				}
+
+				PyErr_SetString(SpamError, "number of kps should match the joint indices");
+				return NULL;
+			}
+			
+			kpsSeq =  PySequence_Fast(kpsObj, "expected a sequence of kps");
+		}
+
+		
+		if (kdsObj)
+		{
+			int num = PySequence_Size(kdsObj);
+			if (num != numControlledDofs)
+			{
+				Py_DECREF(jointIndicesSeq);
+				if (targetVelocitiesSeq)
+				{
+					Py_DECREF(targetVelocitiesSeq);
+				}
+				if (targetPositionsSeq)
+				{
+					Py_DECREF(targetPositionsSeq);
+				}
+				if (forcesSeq)
+				{
+					Py_DECREF(forcesSeq);
+				}
+				if (kpsSeq)
+				{
+					Py_DECREF(kpsSeq);
+				}
+				PyErr_SetString(SpamError, "number of kds should match the number of joint indices");
+				return NULL;
+			}
+			
+			kdsSeq =  PySequence_Fast(kdsObj, "expected a sequence of kds");
+		}
+
+		commandHandle = b3JointControlCommandInit2(sm, bodyIndex, controlMode);
+
+		for (i=0;i<numControlledDofs;i++)
+		{
+			double targetVelocity = 0.0;
+			if (targetVelocitiesSeq)
+			{
+				targetVelocity = pybullet_internalGetFloatFromSequence(targetVelocitiesSeq, i);
+			}
+			double targetPosition = 0.0;
+			if (targetPositionsSeq)
+			{
+				targetPosition = pybullet_internalGetFloatFromSequence(targetPositionsSeq, i);
+			}
+
+			double force = 100000.0;
+			if (forcesSeq)
+			{
+				force = pybullet_internalGetFloatFromSequence(forcesSeq, i);
+			}
+			double kp = 0.1;
+			if (kpsSeq)
+			{
+				kp = pybullet_internalGetFloatFromSequence(kpsSeq, i);
+			}
+			double kd = 1.0;
+			if (kdsSeq)
+			{
+				kd = pybullet_internalGetFloatFromSequence(kdsSeq, i);
+			}
+
+			int jointIndex = pybullet_internalGetFloatFromSequence(jointIndicesSeq, i);
+			b3GetJointInfo(sm, bodyIndex, jointIndex, &info);
+
+			switch (controlMode)
+			{
+				case CONTROL_MODE_VELOCITY:
+				{
+					b3JointControlSetDesiredVelocity(commandHandle, info.m_uIndex,
+													 targetVelocity);
+					b3JointControlSetKd(commandHandle, info.m_uIndex, kd);
+					b3JointControlSetMaximumForce(commandHandle, info.m_uIndex, force);
+					break;
+				}
+
+				case CONTROL_MODE_TORQUE:
+				{
+					b3JointControlSetDesiredForceTorque(commandHandle, info.m_uIndex,
+														force);
+					break;
+				}
+
+				case CONTROL_MODE_POSITION_VELOCITY_PD:
+				{
+					b3JointControlSetDesiredPosition(commandHandle, info.m_qIndex,
+													 targetPosition);
+					b3JointControlSetKp(commandHandle, info.m_uIndex, kp);
+					b3JointControlSetDesiredVelocity(commandHandle, info.m_uIndex,
+													 targetVelocity);
+					b3JointControlSetKd(commandHandle, info.m_uIndex, kd);
+					b3JointControlSetMaximumForce(commandHandle, info.m_uIndex, force);
+					break;
+				}
+				default:
+				{
+				}
+			};
+		}
+
+
+		statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
+		Py_DECREF(jointIndicesSeq);
+		Py_INCREF(Py_None);
+		return Py_None;
+	}
+	//  PyErr_SetString(SpamError, "Error parsing arguments in setJointControl.");
+	//  return NULL;
+}
+
 static PyObject* pybullet_setJointMotorControl2(PyObject* self, PyObject* args, PyObject* keywds)
 {
 	int bodyIndex, jointIndex, controlMode;
@@ -5654,6 +5922,14 @@ static PyMethodDef SpamMethods[] = {
 	 "Set a single joint motor control mode and desired target value. There is "
 	 "no immediate state change, stepSimulation will process the motors."},
 
+	{"setJointMotorControlArray", (PyCFunction)pybullet_setJointMotorControlArray, METH_VARARGS | METH_KEYWORDS,
+	 "Set an array of motors control mode and desired target value. There is "
+	 "no immediate state change, stepSimulation will process the motors."
+	 "This is similar to setJointMotorControl2, with jointIndices as a list, and optional targetPositions, "
+	 "targetVelocities, forces, kds and kps as lists"
+	 "Using setJointMotorControlArray has the benefit of lower calling overhead."
+	 },
+
 	{"applyExternalForce", (PyCFunction)pybullet_applyExternalForce, METH_VARARGS | METH_KEYWORDS,
 	 "for objectUniqueId, linkIndex (-1 for base/root link), apply a force "
 	 "[x,y,z] at the a position [x,y,z], flag to select FORCE_IN_LINK_FRAME or "
diff --git a/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h b/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
index 6488bdd64..f7be7d45b 100644
--- a/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
+++ b/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
@@ -215,10 +215,9 @@ private:
 	*/
 
 
-	
-	SIMD_FORCE_INLINE	unsigned int getHash(unsigned int proxyId1, unsigned int proxyId2)
+	SIMD_FORCE_INLINE unsigned int getHash(unsigned int proxyId1, unsigned int proxyId2)
 	{
-		int key = static_cast<int>(((unsigned int)proxyId1) | (((unsigned int)proxyId2) <<16));
+		unsigned int key = proxyId1 | (proxyId2 << 16);
 		// Thomas Wang's hash
 
 		key += ~(key << 15);
@@ -227,13 +226,11 @@ private:
 		key ^=  (key >> 6);
 		key += ~(key << 11);
 		key ^=  (key >> 16);
-		return static_cast<unsigned int>(key);
+		return key;
 	}
 	
 
 
-
-
 	SIMD_FORCE_INLINE btBroadphasePair* internalFindPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1, int hash)
 	{
 		int proxyId1 = proxy0->getUid();
diff --git a/src/BulletCollision/CollisionDispatch/btHashedSimplePairCache.h b/src/BulletCollision/CollisionDispatch/btHashedSimplePairCache.h
index 186964d72..2aaf6201f 100644
--- a/src/BulletCollision/CollisionDispatch/btHashedSimplePairCache.h
+++ b/src/BulletCollision/CollisionDispatch/btHashedSimplePairCache.h
@@ -123,9 +123,9 @@ private:
 
 	
 	
-	SIMD_FORCE_INLINE	unsigned int getHash(unsigned int indexA, unsigned int indexB)
+	SIMD_FORCE_INLINE unsigned int getHash(unsigned int indexA, unsigned int indexB)
 	{
-		int key = static_cast<int>(((unsigned int)indexA) | (((unsigned int)indexB) <<16));
+		unsigned int key = indexA | (indexB << 16);
 		// Thomas Wang's hash
 
 		key += ~(key << 15);
@@ -134,7 +134,7 @@ private:
 		key ^=  (key >> 6);
 		key += ~(key << 11);
 		key ^=  (key >> 16);
-		return static_cast<unsigned int>(key);
+		return key;
 	}
 	
 
diff --git a/src/LinearMath/btHashMap.h b/src/LinearMath/btHashMap.h
index 8f723a646..3e8b75b7d 100644
--- a/src/LinearMath/btHashMap.h
+++ b/src/LinearMath/btHashMap.h
@@ -105,9 +105,10 @@ public:
 	//to our success
 	SIMD_FORCE_INLINE	unsigned int getHash()const
 	{
-		int key = m_uid;
+		unsigned int key = m_uid;
 		// Thomas Wang's hash
 		key += ~(key << 15);	key ^=  (key >> 10);	key +=  (key << 3);	key ^=  (key >> 6);	key += ~(key << 11);	key ^=  (key >> 16);
+		
 		return key;
 	}
 };
@@ -120,7 +121,7 @@ class btHashPtr
 	union
 	{
 		const void*	m_pointer;
-		int	m_hashValues[2];
+		unsigned int	m_hashValues[2];
 	};
 
 public:
@@ -145,8 +146,7 @@ public:
 	{
 		const bool VOID_IS_8 = ((sizeof(void*)==8));
 		
-		int key = VOID_IS_8? m_hashValues[0]+m_hashValues[1] : m_hashValues[0];
-	
+		unsigned int key = VOID_IS_8? m_hashValues[0]+m_hashValues[1] : m_hashValues[0];
 		// Thomas Wang's hash
 		key += ~(key << 15);	key ^=  (key >> 10);	key +=  (key << 3);	key ^=  (key >> 6);	key += ~(key << 11);	key ^=  (key >> 16);
 		return key;
@@ -179,7 +179,7 @@ public:
         //to our success
         SIMD_FORCE_INLINE       unsigned int getHash()const
         {
-                int key = m_uid;
+                unsigned int key = m_uid;
                 // Thomas Wang's hash
                 key += ~(key << 15);	key ^=  (key >> 10);	key +=  (key << 3);	key ^=  (key >> 6);	key += ~(key << 11);	key ^=  (key >> 16);
                 return key;
@@ -211,7 +211,7 @@ public:
 	//to our success
 	SIMD_FORCE_INLINE	unsigned int getHash()const
 	{
-		int key = m_uid;
+		unsigned int key = m_uid;
 		// Thomas Wang's hash
 		key += ~(key << 15);	key ^=  (key >> 10);	key +=  (key << 3);	key ^=  (key >> 6);	key += ~(key << 11);	key ^=  (key >> 16);
 		return key;