diff --git a/Demos/AllBulletDemos/Main.cpp b/Demos/AllBulletDemos/Main.cpp
index cec0ff1c0..c59e18d3b 100644
--- a/Demos/AllBulletDemos/Main.cpp
+++ b/Demos/AllBulletDemos/Main.cpp
@@ -100,12 +100,12 @@ void	setDefaultSettings()
 	gDrawClusters=0;
 
 	gDebugNoDeactivation = 0;
-	gUseSplitImpulse = 0;
+	gUseSplitImpulse = 1;
 	gUseWarmstarting = 1;
-	gRandomizeConstraints = 1;
+	gRandomizeConstraints = 0;
 	gErp = 0.2f;
 	gSlop=0.0f;
-	gErp2 = 0.1f;
+	gErp2 = 0.81f;
 	gWarmStartingParameter = 0.85f;
 	
 }
diff --git a/Demos/OpenGL/DemoApplication.cpp b/Demos/OpenGL/DemoApplication.cpp
index 18d8b21ff..d72dc3049 100644
--- a/Demos/OpenGL/DemoApplication.cpp
+++ b/Demos/OpenGL/DemoApplication.cpp
@@ -534,8 +534,8 @@ void	DemoApplication::setShootBoxShape ()
 {
 	if (!m_shootBoxShape)
 	{
-		btBoxShape* box = new btBoxShape(btVector3(.15f,.15f,.15f));
-		box->initializePolyhedralFeatures();
+		btBoxShape* box = new btBoxShape(btVector3(0.5,0.5,0.5));
+        box->initializePolyhedralFeatures();
 		m_shootBoxShape = box;
 	}
 }
@@ -565,8 +565,8 @@ void	DemoApplication::shootBox(const btVector3& destination)
 		body->getWorldTransform().setRotation(btQuaternion(0,0,0,1));
 		body->setLinearVelocity(linVel);
 		body->setAngularVelocity(btVector3(0,0,0));
-		body->setCcdMotionThreshold(0.1);
-		body->setCcdSweptSphereRadius(0.1f);
+		body->setCcdMotionThreshold(0.5);
+		body->setCcdSweptSphereRadius(0.4f);//value should be smaller (embedded) than the half extends of the box (see ::setShootBoxShape)
 //		printf("shootBox uid=%d\n", body->getBroadphaseHandle()->getUid());
 //		printf("camPos=%f,%f,%f\n",camPos.getX(),camPos.getY(),camPos.getZ());
 //		printf("destination=%f,%f,%f\n",destination.getX(),destination.getY(),destination.getZ());
diff --git a/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp b/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
index 888591829..9d60d9957 100644
--- a/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
+++ b/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
@@ -70,7 +70,7 @@ void	btContactConstraint::buildJacobian()
 
 
 
-//response  between two dynamic objects without friction, assuming 0 penetration depth
+//response  between two dynamic objects without friction and no restitution, assuming 0 penetration depth
 btScalar resolveSingleCollision(
         btRigidBody* body1,
         btCollisionObject* colObj2,
@@ -93,7 +93,7 @@ btScalar resolveSingleCollision(
     btScalar rel_vel;
     rel_vel = normal.dot(vel);
     
-    btScalar combinedRestitution = body1->getRestitution() * colObj2->getRestitution();
+    btScalar combinedRestitution = 0.f;
     btScalar restitution = combinedRestitution* -rel_vel;
 
     btScalar positionalError = solverInfo.m_erp *-distance /solverInfo.m_timeStep ;
diff --git a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
index 7090e8f4e..8a0042aef 100644
--- a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
+++ b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
@@ -781,6 +781,39 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
 
 	m_maxOverrideNumSolverIterations = 0;
 
+#ifdef BT_DEBUG
+    //make sure that dynamic bodies exist for all contact manifolds
+    for (int i=0;i<numManifolds;i++)
+    {
+        if (!manifoldPtr[i]->getBody0()->isStaticOrKinematicObject())
+        {
+            bool found=false;
+            for (int b=0;b<numBodies;b++)
+            {
+                
+                if (manifoldPtr[i]->getBody0()==bodies[b])
+                {
+                    found = true;
+                    break;
+                }
+            }
+            btAssert(found);
+        }
+        if (!manifoldPtr[i]->getBody1()->isStaticOrKinematicObject())
+        {
+            bool found=false;
+            for (int b=0;b<numBodies;b++)
+            {
+                if (manifoldPtr[i]->getBody1()==bodies[b])
+                {
+                    found = true;
+                    break;
+                }
+            }
+            btAssert(found);
+        }
+    }
+#endif //BT_DEBUG
 	
 	
 	for (int i = 0; i < numBodies; i++)
diff --git a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
index b7a32edc0..bd6c74b28 100644
--- a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
+++ b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
@@ -481,10 +481,11 @@ void	btDiscreteDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
 	dispatchInfo.m_debugDraw = getDebugDrawer();
 
 
+    createPredictiveContacts(timeStep);
+    
 	///perform collision detection
 	performDiscreteCollisionDetection();
 
-	createPredictiveContacts(timeStep);
 
 	calculateSimulationIslands();
 
@@ -733,6 +734,28 @@ void	btDiscreteDynamicsWorld::calculateSimulationIslands()
 
 	getSimulationIslandManager()->updateActivationState(getCollisionWorld(),getCollisionWorld()->getDispatcher());
 
+    {
+        //merge islands based on speculative contact manifolds too
+        for (int i=0;i<this->m_predictiveManifolds.size();i++)
+        {
+            btPersistentManifold* manifold = m_predictiveManifolds[i];
+            
+            const btCollisionObject* colObj0 = manifold->getBody0();
+            const btCollisionObject* colObj1 = manifold->getBody1();
+            
+            if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) &&
+                ((colObj1) && (!(colObj1)->isStaticOrKinematicObject())))
+            {
+                if (colObj0->isActive() || colObj1->isActive())
+                {
+                    
+                    getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(),
+                                                                       (colObj1)->getIslandTag());
+                }
+            }
+        }
+    }
+    
 	{
 		int i;
 		int numConstraints = int(m_constraints.size());
@@ -912,7 +935,7 @@ void	btDiscreteDynamicsWorld::createPredictiveContacts(btScalar timeStep)
 					btClosestNotMeConvexResultCallback sweepResults(body,body->getWorldTransform().getOrigin(),predictedTrans.getOrigin(),getBroadphase()->getOverlappingPairCache(),getDispatcher());
 #endif
 					//btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
-					btSphereShape tmpSphere(0.1);//body->getCcdSweptSphereRadius());//btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
+					btSphereShape tmpSphere(body->getCcdSweptSphereRadius());//btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
 					sweepResults.m_allowedPenetration=getDispatchInfo().m_allowedCcdPenetration;
 
 					sweepResults.m_collisionFilterGroup = body->getBroadphaseProxy()->m_collisionFilterGroup;