diff --git a/msvc/6/appBasicDemo.dsp b/msvc/6/appBasicDemo.dsp
new file mode 100644
index 000000000..9e58cb2fc
--- /dev/null
+++ b/msvc/6/appBasicDemo.dsp
@@ -0,0 +1,127 @@
+# Microsoft Developer Studio Project File - Name="appBasicDemo" - Package Owner=<4>
+# Microsoft Developer Studio Generated Build File, Format Version 6.00
+# ** DO NOT EDIT **
+
+# TARGTYPE "Win32 (x86) Console Application" 0x0103
+
+CFG=appBasicDemo - Win32 Release
+!MESSAGE This is not a valid makefile. To build this project using NMAKE,
+!MESSAGE use the Export Makefile command and run
+!MESSAGE 
+!MESSAGE NMAKE /f "appBasicDemo.mak".
+!MESSAGE 
+!MESSAGE You can specify a configuration when running NMAKE
+!MESSAGE by defining the macro CFG on the command line. For example:
+!MESSAGE 
+!MESSAGE NMAKE /f "appBasicDemo.mak" CFG="appBasicDemo - Win32 Release"
+!MESSAGE 
+!MESSAGE Possible choices for configuration are:
+!MESSAGE 
+!MESSAGE "appBasicDemo - Win32 Debug" (based on "Win32 (x86) Console Application")
+!MESSAGE "appBasicDemo - Win32 Release" (based on "Win32 (x86) Console Application")
+!MESSAGE 
+
+# Begin Project
+# PROP AllowPerConfigDependencies 0
+# PROP Scc_ProjName ""
+# PROP Scc_LocalPath ""
+CPP=cl.exe
+MTL=midl.exe
+RSC=rc.exe
+
+!IF  "$(CFG)" == "appBasicDemo - Win32 Release"
+
+# PROP BASE Use_MFC 0
+# PROP BASE Use_Debug_Libraries 0
+# PROP BASE Output_Dir "release"
+# PROP BASE Intermediate_Dir "release"
+# PROP BASE Target_Dir ""
+# PROP Use_MFC 0
+# PROP Use_Debug_Libraries 0
+# PROP Output_Dir "..\..\out\release6\build\appBasicDemo\"
+# PROP Intermediate_Dir "..\..\out\release6\build\appBasicDemo\"
+# PROP Ignore_Export_Lib 0
+# PROP Target_Dir ""
+# ADD BASE CPP /nologo /vmb /vms /W3 /Gm /G5 /D "WIN32" /FD /c
+# ADD CPP /nologo /vmb /vms /W3 /Gm /G5 /FD /c /Gy /GF /MD /Ob2 /Og /Oi /Ot /Oy /D "_MT" /D "_MBCS" /D "NDEBUG" /D "_CONSOLE" /D "WIN32"  /I "." /I "..\.." /I "..\..\src" /I "..\..\Extras\ConvexDecomposition" /I "..\..\Extras\COLLADA_DOM\include" /I "..\..\Extras\COLLADA_DOM\include\1.4" /I "..\..\Extras\LibXML\include" /I "..\..\Extras\PhysicsInterface\Common" /I "..\..\Extras\PhysicsInterface\CcdPhysics" /I "..\..\Glut" /I "..\..\Demos\OpenGL"
+# ADD BASE MTL /nologo /mktyplib203 /o "NUL" /win32
+# ADD MTL /nologo /mktyplib203 /o "NUL" /win32 /D "NDEBUG" /D "_CONSOLE"
+# ADD BASE RSC /l 0x409
+# ADD RSC /l 0x409 /fo".\..\..\out\release6\build\appBasicDemo\appBasicDemo.res" /i "." /i "..\.." /i "..\..\src" /i "..\..\Extras\ConvexDecomposition" /i "..\..\Extras\COLLADA_DOM\include" /i "..\..\Extras\COLLADA_DOM\include\1.4" /i "..\..\Extras\LibXML\include" /i "..\..\Extras\PhysicsInterface\Common" /i "..\..\Extras\PhysicsInterface\CcdPhysics" /i "..\..\Glut" /i "..\..\Demos\OpenGL"
+BSC32=bscmake.exe
+# ADD BASE BSC32 /nologo
+# ADD BSC32 /nologo
+LIB32=link.exe -lib
+# ADD BASE LIB32 /nologo
+# ADD LIB32 /nologo 
+LINK32=link.exe
+# ADD BASE LINK32 user32.lib gdi32.lib advapi32.lib /nologo /machine:I386
+# ADD LINK32 shell32.lib user32.lib gdi32.lib advapi32.lib glut32.lib  /nologo /version:4.0 /machine:I386 /OPT:NOREF /out:"..\..\BasicDemo.exe" /subsystem:console /libpath:"..\..\Glut" 
+# Begin Special Build Tool
+SOURCE="$(InputPath)"
+# End Special Build Tool
+
+!ELSEIF  "$(CFG)" == "appBasicDemo - Win32 Debug"
+
+# PROP BASE Use_MFC 0
+# PROP BASE Use_Debug_Libraries 1
+# PROP BASE Output_Dir "debug"
+# PROP BASE Intermediate_Dir "debug"
+# PROP BASE Target_Dir ""
+# PROP Use_MFC 0
+# PROP Use_Debug_Libraries 1
+# PROP Output_Dir "..\..\out\debug6\build\appBasicDemo\"
+# PROP Intermediate_Dir "..\..\out\debug6\build\appBasicDemo\"
+# PROP Ignore_Export_Lib 1
+# PROP Target_Dir ""
+# ADD BASE CPP /nologo /vmb /vms /W3 /Gm /G5 /D "WIN32" /FD /c
+# ADD CPP /nologo /vmb /vms /W3 /Gm /G5 /FD /c /GR /MDd /ZI /Od /D "_MT" /D "_MBCS" /D "_DEBUG" /D "_CONSOLE" /D "WIN32"  /I "." /I "..\.." /I "..\..\src" /I "..\..\Extras\ConvexDecomposition" /I "..\..\Extras\COLLADA_DOM\include" /I "..\..\Extras\COLLADA_DOM\include\1.4" /I "..\..\Extras\LibXML\include" /I "..\..\Extras\PhysicsInterface\Common" /I "..\..\Extras\PhysicsInterface\CcdPhysics" /I "..\..\Glut" /I "..\..\Demos\OpenGL"
+# ADD BASE MTL /nologo /mktyplib203 /o "NUL" /win32
+# ADD MTL /nologo /mktyplib203 /o "NUL" /win32 /D "_DEBUG" /D "_CONSOLE"
+# ADD BASE RSC /l 0x409
+# ADD RSC /l 0x409 /fo".\..\..\out\debug6\build\appBasicDemo\appBasicDemo.res" /i "." /i "..\.." /i "..\..\src" /i "..\..\Extras\ConvexDecomposition" /i "..\..\Extras\COLLADA_DOM\include" /i "..\..\Extras\COLLADA_DOM\include\1.4" /i "..\..\Extras\LibXML\include" /i "..\..\Extras\PhysicsInterface\Common" /i "..\..\Extras\PhysicsInterface\CcdPhysics" /i "..\..\Glut" /i "..\..\Demos\OpenGL"
+BSC32=bscmake.exe
+# ADD BASE BSC32 /nologo
+# ADD BSC32 /nologo
+LIB32=link.exe -lib
+# ADD BASE LIB32 /nologo
+# ADD LIB32 /nologo 
+LINK32=link.exe
+# ADD BASE LINK32 user32.lib gdi32.lib advapi32.lib /nologo /machine:I386
+# ADD LINK32 shell32.lib user32.lib gdi32.lib advapi32.lib glut32.lib  /nologo /version:4.0 /machine:I386 /debug /pdbtype:sept /out:"..\..\BasicDemo.exe" /subsystem:console /libpath:"..\..\Glut" 
+# Begin Special Build Tool
+SOURCE="$(InputPath)"
+# End Special Build Tool
+
+!ENDIF 
+
+# Begin Target
+
+# Name "appBasicDemo - Win32 Release"
+# Name "appBasicDemo - Win32 Debug"
+# Begin Group "Source Files"
+
+# PROP Default_Filter ""
+# Begin Source File
+
+SOURCE=..\..\Demos\BasicDemo\BasicDemo.cpp
+# End Source File
+# End Group
+# Begin Group "Header Files"
+
+# PROP Default_Filter ""
+# Begin Source File
+
+SOURCE=..\..\Demos\BasicDemo\BasicDemo.h
+# End Source File
+# End Group
+# Begin Group "Resource Files"
+
+# PROP Default_Filter ""
+# Begin Source File
+
+SOURCE=..\..\msvc\appBasicDemo.rc
+# End Source File
+# End Group
+# End Target
+# End Project
diff --git a/msvc/6/libbulletmath.dsp b/msvc/6/libbulletmath.dsp
index a7f10a4be..e6bad4bd0 100644
--- a/msvc/6/libbulletmath.dsp
+++ b/msvc/6/libbulletmath.dsp
@@ -132,6 +132,10 @@ SOURCE=..\..\src\LinearMath\btMinMax.h
 # End Source File
 # Begin Source File
 
+SOURCE=..\..\src\LinearMath\btMotionState.h
+# End Source File
+# Begin Source File
+
 SOURCE=..\..\src\LinearMath\btPoint3.h
 # End Source File
 # Begin Source File
diff --git a/msvc/6/wksbullet.dsw b/msvc/6/wksbullet.dsw
index 6cde0b725..7a1310c5b 100644
--- a/msvc/6/wksbullet.dsw
+++ b/msvc/6/wksbullet.dsw
@@ -3,6 +3,30 @@ Microsoft Developer Studio Workspace File, Format Version 6.00
 
 ###############################################################################
 
+Project: "appBasicDemo"=.\appBasicDemo.dsp - Package Owner=<4>
+
+Package=<5>
+{{{
+}}}
+
+Package=<4>
+{{{
+    Begin Project Dependency
+    Project_Dep_Name libbulletcollision
+    End Project Dependency
+    Begin Project Dependency
+    Project_Dep_Name libbulletdynamics
+    End Project Dependency
+    Begin Project Dependency
+    Project_Dep_Name libbulletmath
+    End Project Dependency
+    Begin Project Dependency
+    Project_Dep_Name libbulletopenglsupport
+    End Project Dependency
+}}}
+
+###############################################################################
+
 Project: "appBspDemo"=.\appBspDemo.dsp - Package Owner=<4>
 
 Package=<5>
@@ -350,6 +374,9 @@ Package=<5>
 
 Package=<4>
 {{{
+    Begin Project Dependency
+    Project_Dep_Name appBasicDemo
+    End Project Dependency
     Begin Project Dependency
     Project_Dep_Name appBspDemo
     End Project Dependency
@@ -422,6 +449,9 @@ Package=<5>
 
 Package=<4>
 {{{
+    Begin Project Dependency
+    Project_Dep_Name appBasicDemo
+    End Project Dependency
     Begin Project Dependency
     Project_Dep_Name appBspDemo
     End Project Dependency
diff --git a/msvc/7/appBasicDemo.vcproj b/msvc/7/appBasicDemo.vcproj
new file mode 100644
index 000000000..d0233518a
--- /dev/null
+++ b/msvc/7/appBasicDemo.vcproj
@@ -0,0 +1,190 @@
+<?xml version="1.0" encoding = "Windows-1252"?>
+<VisualStudioProject
+	ProjectType="Visual C++"
+	Version="7.00"
+	Name="appBasicDemo"
+	ProjectGUID="{3578834A-4B06-DE6F-78AC-FE11F7226D35}"
+	SccProjectName=""
+	SccLocalPath="">
+	<Platforms>
+		<Platform
+			Name="Win32"/>
+	</Platforms>
+	<Configurations>
+		<Configuration
+			Name="Release|Win32"
+			OutputDirectory="..\..\out\release7\build\appBasicDemo\"
+			IntermediateDirectory="..\..\out\release7\build\appBasicDemo\"
+			ConfigurationType="1"
+			CharacterSet="2"
+			WholeProgramOptimization="1"
+			UseOfMFC="0"
+			ATLMinimizesCRunTimeLibraryUsage="FALSE">
+			<Tool
+				Name="VCCLCompilerTool"
+				Optimization="2"
+				StringPooling="TRUE"
+				EnableFunctionLevelLinking="TRUE"
+				RuntimeLibrary="0"
+				DebugInformationFormat="3"
+				BufferSecurityCheck="FALSE"
+				PreprocessorDefinitions="NDEBUG;_CONSOLE;WIN32"
+				OptimizeForProcessor="1"
+				ExceptionHandling="0"
+				AdditionalOptions=" "
+				AdditionalIncludeDirectories=".;..\..;..\..\src;..\..\Extras\ConvexDecomposition;..\..\Extras\COLLADA_DOM\include;..\..\Extras\COLLADA_DOM\include\1.4;..\..\Extras\LibXML\include;..\..\Extras\PhysicsInterface\Common;..\..\Extras\PhysicsInterface\CcdPhysics;..\..\Glut;..\..\Demos\OpenGL"
+				PrecompiledHeaderFile="..\..\out\release7\build\appBasicDemo\appBasicDemo.pch"
+				AssemblerListingLocation="..\..\out\release7\build\appBasicDemo\"
+				ObjectFile="..\..\out\release7\build\appBasicDemo\"
+				ProgramDataBaseFileName="..\..\out\release7\build\appBasicDemo\BasicDemo.pdb"
+				WarningLevel="3"
+				SuppressStartupBanner="TRUE"
+				Detect64BitPortabilityProblems="TRUE"
+				TreatWChar_tAsBuiltInType="false"
+				CompileAs="0"/>
+			<Tool
+				Name="VCCustomBuildTool"/>
+			<Tool
+				Name="VCLinkerTool"
+				LinkIncremental="1"
+				OptimizeReferences="2"
+				EnableCOMDATFolding="2"
+				GenerateDebugInformation="TRUE"
+				IgnoreDefaultLibraryNames="LIBC,LIBCD"
+				OutputFile="..\..\BasicDemo.exe"
+				SubSystem="1"
+				AdditionalOptions=" "
+				AdditionalDependencies="glut32.lib"
+				IgnoreImportLibrary="TRUE"
+				SuppressStartupBanner="TRUE"
+				GenerateManifest="false"
+				AdditionalLibraryDirectories="..\..\Glut"
+				ProgramDatabaseFile="..\..\out\release7\build\appBasicDemo\BasicDemo.pdb"
+				TargetMachine="1"/>
+			<Tool
+				Name="VCLibrarianTool"
+				SuppressStartupBanner="TRUE"/>
+			<Tool
+				Name="VCMIDLTool"
+				PreprocessorDefinitions="NDEBUG;_CONSOLE"
+				MkTypLibCompatible="TRUE"
+				SuppressStartupBanner="TRUE"
+				TargetEnvironment="1"
+				TypeLibraryName="..\..\out\release7\build\appBasicDemo\appBasicDemo.tlb"/>
+			<Tool
+				Name="VCPostBuildEventTool"
+				/>
+			<Tool
+				Name="VCPreBuildEventTool"/>
+			<Tool
+				Name="VCPreLinkEventTool"/>
+			<Tool
+				Name="VCResourceCompilerTool"
+				PreprocessorDefinitions="NDEBUG;_CONSOLE;PROJECTGEN_VERSION=7"
+				AdditionalIncludeDirectories=".;..\..;..\..\src;..\..\Extras\ConvexDecomposition;..\..\Extras\COLLADA_DOM\include;..\..\Extras\COLLADA_DOM\include\1.4;..\..\Extras\LibXML\include;..\..\Extras\PhysicsInterface\Common;..\..\Extras\PhysicsInterface\CcdPhysics;..\..\Glut;..\..\Demos\OpenGL"
+				Culture="1033"/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"/>
+			<Tool
+				Name="VCWebDeploymentTool"/>
+		</Configuration>
+		<Configuration
+			Name="Debug|Win32"
+			OutputDirectory="..\..\out\debug7\build\appBasicDemo\"
+			IntermediateDirectory="..\..\out\debug7\build\appBasicDemo\"
+			ConfigurationType="1"
+			CharacterSet="2"
+			UseOfMFC="0"
+			ATLMinimizesCRunTimeLibraryUsage="FALSE">
+			<Tool
+				Name="VCCLCompilerTool"
+				Optimization="0"
+				MinimalRebuild="TRUE"
+				DebugInformationFormat="4"
+				RuntimeTypeInfo="FALSE"
+				RuntimeLibrary="1"
+				PreprocessorDefinitions="_DEBUG;_CONSOLE;WIN32"
+				OptimizeForProcessor="1"
+				ExceptionHandling="0"
+				AdditionalOptions=" "
+				AdditionalIncludeDirectories=".;..\..;..\..\src;..\..\Extras\ConvexDecomposition;..\..\Extras\COLLADA_DOM\include;..\..\Extras\COLLADA_DOM\include\1.4;..\..\Extras\LibXML\include;..\..\Extras\PhysicsInterface\Common;..\..\Extras\PhysicsInterface\CcdPhysics;..\..\Glut;..\..\Demos\OpenGL"
+				PrecompiledHeaderFile="..\..\out\debug7\build\appBasicDemo\appBasicDemo.pch"
+				AssemblerListingLocation="..\..\out\debug7\build\appBasicDemo\"
+				ObjectFile="..\..\out\debug7\build\appBasicDemo\"
+				ProgramDataBaseFileName="..\..\out\debug7\build\appBasicDemo\BasicDemo.pdb"
+				WarningLevel="3"
+				SuppressStartupBanner="TRUE"
+				Detect64BitPortabilityProblems="TRUE"
+				TreatWChar_tAsBuiltInType="false"
+				CompileAs="0"/>
+			<Tool
+				Name="VCCustomBuildTool"/>
+			<Tool
+				Name="VCLinkerTool"
+				LinkIncremental="2"
+				GenerateDebugInformation="TRUE"
+				IgnoreDefaultLibraryNames="LIBC,LIBCD"
+				OutputFile="..\..\BasicDemo.exe"
+				SubSystem="1"
+				AdditionalOptions=" "
+				AdditionalDependencies="glut32.lib"
+				IgnoreImportLibrary="TRUE"
+				SuppressStartupBanner="TRUE"
+				GenerateManifest="false"
+				AdditionalLibraryDirectories="..\..\Glut"
+				ProgramDatabaseFile="..\..\out\debug7\build\appBasicDemo\BasicDemo.pdb"
+				TargetMachine="1"/>
+			<Tool
+				Name="VCLibrarianTool"
+				SuppressStartupBanner="TRUE"/>
+			<Tool
+				Name="VCMIDLTool"
+				PreprocessorDefinitions="_DEBUG;_CONSOLE"
+				MkTypLibCompatible="TRUE"
+				SuppressStartupBanner="TRUE"
+				TargetEnvironment="1"
+				TypeLibraryName="..\..\out\debug7\build\appBasicDemo\appBasicDemo.tlb"/>
+			<Tool
+				Name="VCPostBuildEventTool"
+				/>
+			<Tool
+				Name="VCPreBuildEventTool"/>
+			<Tool
+				Name="VCPreLinkEventTool"/>
+			<Tool
+				Name="VCResourceCompilerTool"
+				PreprocessorDefinitions="_DEBUG;_CONSOLE;PROJECTGEN_VERSION=7"
+				AdditionalIncludeDirectories=".;..\..;..\..\src;..\..\Extras\ConvexDecomposition;..\..\Extras\COLLADA_DOM\include;..\..\Extras\COLLADA_DOM\include\1.4;..\..\Extras\LibXML\include;..\..\Extras\PhysicsInterface\Common;..\..\Extras\PhysicsInterface\CcdPhysics;..\..\Glut;..\..\Demos\OpenGL"
+				Culture="1033"/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"/>
+			<Tool
+				Name="VCWebDeploymentTool"/>
+		</Configuration>
+	</Configurations>
+	<Files>
+		<Filter
+			Name="Source Files"
+			Filter="">
+			<File
+				RelativePath="..\..\Demos\BasicDemo\BasicDemo.cpp">
+			</File>
+		</Filter>
+		<Filter
+			Name="Header Files"
+			Filter="">
+			<File
+				RelativePath="..\..\Demos\BasicDemo\BasicDemo.h">
+			</File>
+		</Filter>
+		<Filter
+			Name="Resource Files"
+			Filter="">
+			<File
+				RelativePath="..\..\msvc\appBasicDemo.rc">
+			</File>
+		</Filter>
+	</Files>
+	<Globals>
+	</Globals>
+</VisualStudioProject>
diff --git a/msvc/7/libbulletmath.vcproj b/msvc/7/libbulletmath.vcproj
index 1ecbaca80..f1c67ed5b 100644
--- a/msvc/7/libbulletmath.vcproj
+++ b/msvc/7/libbulletmath.vcproj
@@ -183,6 +183,9 @@
 			<File
 				RelativePath="..\..\src\LinearMath\btMinMax.h">
 			</File>
+			<File
+				RelativePath="..\..\src\LinearMath\btMotionState.h">
+			</File>
 			<File
 				RelativePath="..\..\src\LinearMath\btPoint3.h">
 			</File>
diff --git a/msvc/7/wksbullet.sln b/msvc/7/wksbullet.sln
index fb102a712..5f0429526 100644
--- a/msvc/7/wksbullet.sln
+++ b/msvc/7/wksbullet.sln
@@ -1,5 +1,7 @@
 Microsoft Visual Studio Solution File, Format Version 7.00
 # Visual C++ Express 2005
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appBasicDemo", "appBasicDemo.vcproj", "{3578834A-4B06-DE6F-78AC-FE11F7226D35}"
+EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appBspDemo", "appBspDemo.vcproj", "{255A379C-F159-5362-4024-D5ADB9F5FBD2}"
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appCcdPhysicsDemo", "appCcdPhysicsDemo.vcproj", "{7284F809-AF30-6315-88C6-86F1C0798760}"
@@ -52,6 +54,10 @@ Global
 		ConfigName.1 = Debug
 	EndGlobalSection
 	GlobalSection(ProjectDependencies) = postSolution
+		{3578834A-4B06-DE6F-78AC-FE11F7226D35}.0 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
+		{3578834A-4B06-DE6F-78AC-FE11F7226D35}.1 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{3578834A-4B06-DE6F-78AC-FE11F7226D35}.2 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{3578834A-4B06-DE6F-78AC-FE11F7226D35}.3 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
 		{255A379C-F159-5362-4024-D5ADB9F5FBD2}.0 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
 		{255A379C-F159-5362-4024-D5ADB9F5FBD2}.1 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
 		{255A379C-F159-5362-4024-D5ADB9F5FBD2}.2 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
@@ -113,39 +119,41 @@ Global
 		{330B5049-6935-5CE6-79B7-28F570962895}.1 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
 		{330B5049-6935-5CE6-79B7-28F570962895}.2 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
 		{330B5049-6935-5CE6-79B7-28F570962895}.3 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
-		{6210A080-01C0-6D67-F1DB-669393175402}.0 = {255A379C-F159-5362-4024-D5ADB9F5FBD2}
-		{6210A080-01C0-6D67-F1DB-669393175402}.1 = {7284F809-AF30-6315-88C6-86F1C0798760}
-		{6210A080-01C0-6D67-F1DB-669393175402}.2 = {D7BF5DDA-C097-9E8B-5EC1-40DE45FB46BF}
-		{6210A080-01C0-6D67-F1DB-669393175402}.3 = {E70DB92E-C1F5-AE72-F9E2-DB9B4B3DBEC9}
-		{6210A080-01C0-6D67-F1DB-669393175402}.4 = {F38629D2-EEB2-1A09-FB82-52B8A8DE759B}
-		{6210A080-01C0-6D67-F1DB-669393175402}.5 = {B94C19C6-F6E7-2F60-56E2-E0BA681B74B3}
-		{6210A080-01C0-6D67-F1DB-669393175402}.6 = {DAA547D0-0166-C085-0F93-B88CAB800F97}
-		{6210A080-01C0-6D67-F1DB-669393175402}.7 = {801CB6D4-A45C-C9D2-B176-9711A74B9164}
-		{6210A080-01C0-6D67-F1DB-669393175402}.8 = {69C821C7-1E18-D894-068D-C55E063F4859}
-		{6210A080-01C0-6D67-F1DB-669393175402}.9 = {780752A8-6322-5D3E-EF42-D0FD8BF9CEA1}
-		{6210A080-01C0-6D67-F1DB-669393175402}.10 = {60F71B6A-F888-C449-EF49-268BB9F7C963}
-		{6210A080-01C0-6D67-F1DB-669393175402}.11 = {60A1DC9D-F837-3923-E9DE-A7925394A578}
-		{6210A080-01C0-6D67-F1DB-669393175402}.12 = {330B5049-6935-5CE6-79B7-28F570962895}
-		{6210A080-01C0-6D67-F1DB-669393175402}.13 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
-		{6210A080-01C0-6D67-F1DB-669393175402}.14 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
-		{6210A080-01C0-6D67-F1DB-669393175402}.15 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
-		{6210A080-01C0-6D67-F1DB-669393175402}.16 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
-		{6210A080-01C0-6D67-F1DB-669393175402}.17 = {6AB01C9C-9163-F400-B5C3-20D046631E17}
-		{6210A080-01C0-6D67-F1DB-669393175402}.18 = {8050F819-5B5B-1504-BC6D-7F2B4C6C85F3}
-		{6210A080-01C0-6D67-F1DB-669393175402}.19 = {A0958CD9-0E39-4A77-3711-9B488F508FBF}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.0 = {255A379C-F159-5362-4024-D5ADB9F5FBD2}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.1 = {7284F809-AF30-6315-88C6-86F1C0798760}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.2 = {D7BF5DDA-C097-9E8B-5EC1-40DE45FB46BF}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.3 = {E70DB92E-C1F5-AE72-F9E2-DB9B4B3DBEC9}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.4 = {F38629D2-EEB2-1A09-FB82-52B8A8DE759B}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.5 = {B94C19C6-F6E7-2F60-56E2-E0BA681B74B3}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.6 = {DAA547D0-0166-C085-0F93-B88CAB800F97}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.7 = {801CB6D4-A45C-C9D2-B176-9711A74B9164}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.8 = {69C821C7-1E18-D894-068D-C55E063F4859}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.9 = {780752A8-6322-5D3E-EF42-D0FD8BF9CEA1}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.10 = {60F71B6A-F888-C449-EF49-268BB9F7C963}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.11 = {60A1DC9D-F837-3923-E9DE-A7925394A578}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.12 = {330B5049-6935-5CE6-79B7-28F570962895}
+		{6210A080-01C0-6D67-F1DB-669393175402}.0 = {3578834A-4B06-DE6F-78AC-FE11F7226D35}
+		{6210A080-01C0-6D67-F1DB-669393175402}.1 = {255A379C-F159-5362-4024-D5ADB9F5FBD2}
+		{6210A080-01C0-6D67-F1DB-669393175402}.2 = {7284F809-AF30-6315-88C6-86F1C0798760}
+		{6210A080-01C0-6D67-F1DB-669393175402}.3 = {D7BF5DDA-C097-9E8B-5EC1-40DE45FB46BF}
+		{6210A080-01C0-6D67-F1DB-669393175402}.4 = {E70DB92E-C1F5-AE72-F9E2-DB9B4B3DBEC9}
+		{6210A080-01C0-6D67-F1DB-669393175402}.5 = {F38629D2-EEB2-1A09-FB82-52B8A8DE759B}
+		{6210A080-01C0-6D67-F1DB-669393175402}.6 = {B94C19C6-F6E7-2F60-56E2-E0BA681B74B3}
+		{6210A080-01C0-6D67-F1DB-669393175402}.7 = {DAA547D0-0166-C085-0F93-B88CAB800F97}
+		{6210A080-01C0-6D67-F1DB-669393175402}.8 = {801CB6D4-A45C-C9D2-B176-9711A74B9164}
+		{6210A080-01C0-6D67-F1DB-669393175402}.9 = {69C821C7-1E18-D894-068D-C55E063F4859}
+		{6210A080-01C0-6D67-F1DB-669393175402}.10 = {780752A8-6322-5D3E-EF42-D0FD8BF9CEA1}
+		{6210A080-01C0-6D67-F1DB-669393175402}.11 = {60F71B6A-F888-C449-EF49-268BB9F7C963}
+		{6210A080-01C0-6D67-F1DB-669393175402}.12 = {60A1DC9D-F837-3923-E9DE-A7925394A578}
+		{6210A080-01C0-6D67-F1DB-669393175402}.13 = {330B5049-6935-5CE6-79B7-28F570962895}
+		{6210A080-01C0-6D67-F1DB-669393175402}.14 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
+		{6210A080-01C0-6D67-F1DB-669393175402}.15 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{6210A080-01C0-6D67-F1DB-669393175402}.16 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{6210A080-01C0-6D67-F1DB-669393175402}.17 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
+		{6210A080-01C0-6D67-F1DB-669393175402}.18 = {6AB01C9C-9163-F400-B5C3-20D046631E17}
+		{6210A080-01C0-6D67-F1DB-669393175402}.19 = {8050F819-5B5B-1504-BC6D-7F2B4C6C85F3}
+		{6210A080-01C0-6D67-F1DB-669393175402}.20 = {A0958CD9-0E39-4A77-3711-9B488F508FBF}
+		{9E59B16D-0924-409C-1611-DF2207A0053F}.0 = {3578834A-4B06-DE6F-78AC-FE11F7226D35}
+		{9E59B16D-0924-409C-1611-DF2207A0053F}.1 = {255A379C-F159-5362-4024-D5ADB9F5FBD2}
+		{9E59B16D-0924-409C-1611-DF2207A0053F}.2 = {7284F809-AF30-6315-88C6-86F1C0798760}
+		{9E59B16D-0924-409C-1611-DF2207A0053F}.3 = {D7BF5DDA-C097-9E8B-5EC1-40DE45FB46BF}
+		{9E59B16D-0924-409C-1611-DF2207A0053F}.4 = {E70DB92E-C1F5-AE72-F9E2-DB9B4B3DBEC9}
+		{9E59B16D-0924-409C-1611-DF2207A0053F}.5 = {F38629D2-EEB2-1A09-FB82-52B8A8DE759B}
+		{9E59B16D-0924-409C-1611-DF2207A0053F}.6 = {B94C19C6-F6E7-2F60-56E2-E0BA681B74B3}
+		{9E59B16D-0924-409C-1611-DF2207A0053F}.7 = {DAA547D0-0166-C085-0F93-B88CAB800F97}
+		{9E59B16D-0924-409C-1611-DF2207A0053F}.8 = {801CB6D4-A45C-C9D2-B176-9711A74B9164}
+		{9E59B16D-0924-409C-1611-DF2207A0053F}.9 = {69C821C7-1E18-D894-068D-C55E063F4859}
+		{9E59B16D-0924-409C-1611-DF2207A0053F}.10 = {780752A8-6322-5D3E-EF42-D0FD8BF9CEA1}
+		{9E59B16D-0924-409C-1611-DF2207A0053F}.11 = {60F71B6A-F888-C449-EF49-268BB9F7C963}
+		{9E59B16D-0924-409C-1611-DF2207A0053F}.12 = {60A1DC9D-F837-3923-E9DE-A7925394A578}
+		{9E59B16D-0924-409C-1611-DF2207A0053F}.13 = {330B5049-6935-5CE6-79B7-28F570962895}
 		{DFAF0062-4CD7-9AB8-0683-A6026B326F56}.0 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
 		{DFAF0062-4CD7-9AB8-0683-A6026B326F56}.1 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
 		{DFAF0062-4CD7-9AB8-0683-A6026B326F56}.2 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
@@ -155,6 +163,10 @@ Global
 		{DFAF0062-4CD7-9AB8-0683-A6026B326F56}.6 = {A0958CD9-0E39-4A77-3711-9B488F508FBF}
 	EndGlobalSection
 	GlobalSection(ProjectConfiguration) = postSolution
+		{3578834A-4B06-DE6F-78AC-FE11F7226D35}.Release.ActiveCfg = Release|Win32
+		{3578834A-4B06-DE6F-78AC-FE11F7226D35}.Release.Build.0 = Release|Win32
+		{3578834A-4B06-DE6F-78AC-FE11F7226D35}.Debug.ActiveCfg = Debug|Win32
+		{3578834A-4B06-DE6F-78AC-FE11F7226D35}.Debug.Build.0 = Debug|Win32
 		{255A379C-F159-5362-4024-D5ADB9F5FBD2}.Release.ActiveCfg = Release|Win32
 		{255A379C-F159-5362-4024-D5ADB9F5FBD2}.Release.Build.0 = Release|Win32
 		{255A379C-F159-5362-4024-D5ADB9F5FBD2}.Debug.ActiveCfg = Debug|Win32
diff --git a/msvc/71/appBasicDemo.vcproj b/msvc/71/appBasicDemo.vcproj
new file mode 100644
index 000000000..417a4f5a7
--- /dev/null
+++ b/msvc/71/appBasicDemo.vcproj
@@ -0,0 +1,190 @@
+<?xml version="1.0" encoding = "Windows-1252"?>
+<VisualStudioProject
+	ProjectType="Visual C++"
+	Version="7.10"
+	Name="appBasicDemo"
+	ProjectGUID="{3578834A-4B06-DE6F-78AC-FE11F7226D35}"
+	SccProjectName=""
+	SccLocalPath="">
+	<Platforms>
+		<Platform
+			Name="Win32"/>
+	</Platforms>
+	<Configurations>
+		<Configuration
+			Name="Release|Win32"
+			OutputDirectory="..\..\out\release71\build\appBasicDemo\"
+			IntermediateDirectory="..\..\out\release71\build\appBasicDemo\"
+			ConfigurationType="1"
+			CharacterSet="2"
+			WholeProgramOptimization="1"
+			UseOfMFC="0"
+			ATLMinimizesCRunTimeLibraryUsage="FALSE">
+			<Tool
+				Name="VCCLCompilerTool"
+				Optimization="2"
+				StringPooling="TRUE"
+				EnableFunctionLevelLinking="TRUE"
+				RuntimeLibrary="0"
+				DebugInformationFormat="3"
+				BufferSecurityCheck="FALSE"
+				PreprocessorDefinitions="NDEBUG;_CONSOLE;WIN32"
+				OptimizeForProcessor="1"
+				ExceptionHandling="0"
+				AdditionalOptions=" "
+				AdditionalIncludeDirectories=".;..\..;..\..\src;..\..\Extras\ConvexDecomposition;..\..\Extras\COLLADA_DOM\include;..\..\Extras\COLLADA_DOM\include\1.4;..\..\Extras\LibXML\include;..\..\Extras\PhysicsInterface\Common;..\..\Extras\PhysicsInterface\CcdPhysics;..\..\Glut;..\..\Demos\OpenGL"
+				PrecompiledHeaderFile="..\..\out\release71\build\appBasicDemo\appBasicDemo.pch"
+				AssemblerListingLocation="..\..\out\release71\build\appBasicDemo\"
+				ObjectFile="..\..\out\release71\build\appBasicDemo\"
+				ProgramDataBaseFileName="..\..\out\release71\build\appBasicDemo\BasicDemo.pdb"
+				WarningLevel="3"
+				SuppressStartupBanner="TRUE"
+				Detect64BitPortabilityProblems="TRUE"
+				TreatWChar_tAsBuiltInType="false"
+				CompileAs="0"/>
+			<Tool
+				Name="VCCustomBuildTool"/>
+			<Tool
+				Name="VCLinkerTool"
+				LinkIncremental="1"
+				OptimizeReferences="2"
+				EnableCOMDATFolding="2"
+				GenerateDebugInformation="TRUE"
+				IgnoreDefaultLibraryNames="LIBC,LIBCD"
+				OutputFile="..\..\BasicDemo.exe"
+				SubSystem="1"
+				AdditionalOptions=" "
+				AdditionalDependencies="glut32.lib"
+				IgnoreImportLibrary="TRUE"
+				SuppressStartupBanner="TRUE"
+				GenerateManifest="false"
+				AdditionalLibraryDirectories="..\..\Glut"
+				ProgramDatabaseFile="..\..\out\release71\build\appBasicDemo\BasicDemo.pdb"
+				TargetMachine="1"/>
+			<Tool
+				Name="VCLibrarianTool"
+				SuppressStartupBanner="TRUE"/>
+			<Tool
+				Name="VCMIDLTool"
+				PreprocessorDefinitions="NDEBUG;_CONSOLE"
+				MkTypLibCompatible="TRUE"
+				SuppressStartupBanner="TRUE"
+				TargetEnvironment="1"
+				TypeLibraryName="..\..\out\release71\build\appBasicDemo\appBasicDemo.tlb"/>
+			<Tool
+				Name="VCPostBuildEventTool"
+				/>
+			<Tool
+				Name="VCPreBuildEventTool"/>
+			<Tool
+				Name="VCPreLinkEventTool"/>
+			<Tool
+				Name="VCResourceCompilerTool"
+				PreprocessorDefinitions="NDEBUG;_CONSOLE;PROJECTGEN_VERSION=71"
+				AdditionalIncludeDirectories=".;..\..;..\..\src;..\..\Extras\ConvexDecomposition;..\..\Extras\COLLADA_DOM\include;..\..\Extras\COLLADA_DOM\include\1.4;..\..\Extras\LibXML\include;..\..\Extras\PhysicsInterface\Common;..\..\Extras\PhysicsInterface\CcdPhysics;..\..\Glut;..\..\Demos\OpenGL"
+				Culture="1033"/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"/>
+			<Tool
+				Name="VCWebDeploymentTool"/>
+		</Configuration>
+		<Configuration
+			Name="Debug|Win32"
+			OutputDirectory="..\..\out\debug71\build\appBasicDemo\"
+			IntermediateDirectory="..\..\out\debug71\build\appBasicDemo\"
+			ConfigurationType="1"
+			CharacterSet="2"
+			UseOfMFC="0"
+			ATLMinimizesCRunTimeLibraryUsage="FALSE">
+			<Tool
+				Name="VCCLCompilerTool"
+				Optimization="0"
+				MinimalRebuild="TRUE"
+				DebugInformationFormat="4"
+				RuntimeTypeInfo="FALSE"
+				RuntimeLibrary="1"
+				PreprocessorDefinitions="_DEBUG;_CONSOLE;WIN32"
+				OptimizeForProcessor="1"
+				ExceptionHandling="0"
+				AdditionalOptions=" "
+				AdditionalIncludeDirectories=".;..\..;..\..\src;..\..\Extras\ConvexDecomposition;..\..\Extras\COLLADA_DOM\include;..\..\Extras\COLLADA_DOM\include\1.4;..\..\Extras\LibXML\include;..\..\Extras\PhysicsInterface\Common;..\..\Extras\PhysicsInterface\CcdPhysics;..\..\Glut;..\..\Demos\OpenGL"
+				PrecompiledHeaderFile="..\..\out\debug71\build\appBasicDemo\appBasicDemo.pch"
+				AssemblerListingLocation="..\..\out\debug71\build\appBasicDemo\"
+				ObjectFile="..\..\out\debug71\build\appBasicDemo\"
+				ProgramDataBaseFileName="..\..\out\debug71\build\appBasicDemo\BasicDemo.pdb"
+				WarningLevel="3"
+				SuppressStartupBanner="TRUE"
+				Detect64BitPortabilityProblems="TRUE"
+				TreatWChar_tAsBuiltInType="false"
+				CompileAs="0"/>
+			<Tool
+				Name="VCCustomBuildTool"/>
+			<Tool
+				Name="VCLinkerTool"
+				LinkIncremental="2"
+				GenerateDebugInformation="TRUE"
+				IgnoreDefaultLibraryNames="LIBC,LIBCD"
+				OutputFile="..\..\BasicDemo.exe"
+				SubSystem="1"
+				AdditionalOptions=" "
+				AdditionalDependencies="glut32.lib"
+				IgnoreImportLibrary="TRUE"
+				SuppressStartupBanner="TRUE"
+				GenerateManifest="false"
+				AdditionalLibraryDirectories="..\..\Glut"
+				ProgramDatabaseFile="..\..\out\debug71\build\appBasicDemo\BasicDemo.pdb"
+				TargetMachine="1"/>
+			<Tool
+				Name="VCLibrarianTool"
+				SuppressStartupBanner="TRUE"/>
+			<Tool
+				Name="VCMIDLTool"
+				PreprocessorDefinitions="_DEBUG;_CONSOLE"
+				MkTypLibCompatible="TRUE"
+				SuppressStartupBanner="TRUE"
+				TargetEnvironment="1"
+				TypeLibraryName="..\..\out\debug71\build\appBasicDemo\appBasicDemo.tlb"/>
+			<Tool
+				Name="VCPostBuildEventTool"
+				/>
+			<Tool
+				Name="VCPreBuildEventTool"/>
+			<Tool
+				Name="VCPreLinkEventTool"/>
+			<Tool
+				Name="VCResourceCompilerTool"
+				PreprocessorDefinitions="_DEBUG;_CONSOLE;PROJECTGEN_VERSION=71"
+				AdditionalIncludeDirectories=".;..\..;..\..\src;..\..\Extras\ConvexDecomposition;..\..\Extras\COLLADA_DOM\include;..\..\Extras\COLLADA_DOM\include\1.4;..\..\Extras\LibXML\include;..\..\Extras\PhysicsInterface\Common;..\..\Extras\PhysicsInterface\CcdPhysics;..\..\Glut;..\..\Demos\OpenGL"
+				Culture="1033"/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"/>
+			<Tool
+				Name="VCWebDeploymentTool"/>
+		</Configuration>
+	</Configurations>
+	<Files>
+		<Filter
+			Name="Source Files"
+			Filter="">
+			<File
+				RelativePath="..\..\Demos\BasicDemo\BasicDemo.cpp">
+			</File>
+		</Filter>
+		<Filter
+			Name="Header Files"
+			Filter="">
+			<File
+				RelativePath="..\..\Demos\BasicDemo\BasicDemo.h">
+			</File>
+		</Filter>
+		<Filter
+			Name="Resource Files"
+			Filter="">
+			<File
+				RelativePath="..\..\msvc\appBasicDemo.rc">
+			</File>
+		</Filter>
+	</Files>
+	<Globals>
+	</Globals>
+</VisualStudioProject>
diff --git a/msvc/71/libbulletmath.vcproj b/msvc/71/libbulletmath.vcproj
index 5e8b2f227..58b126069 100644
--- a/msvc/71/libbulletmath.vcproj
+++ b/msvc/71/libbulletmath.vcproj
@@ -183,6 +183,9 @@
 			<File
 				RelativePath="..\..\src\LinearMath\btMinMax.h">
 			</File>
+			<File
+				RelativePath="..\..\src\LinearMath\btMotionState.h">
+			</File>
 			<File
 				RelativePath="..\..\src\LinearMath\btPoint3.h">
 			</File>
diff --git a/msvc/71/wksbullet.sln b/msvc/71/wksbullet.sln
index 2b0080d63..70751cf26 100644
--- a/msvc/71/wksbullet.sln
+++ b/msvc/71/wksbullet.sln
@@ -1,5 +1,7 @@
 Microsoft Visual Studio Solution File, Format Version 8.00
 # Visual C++ Express 2005
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appBasicDemo", "appBasicDemo.vcproj", "{3578834A-4B06-DE6F-78AC-FE11F7226D35}"
+EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appBspDemo", "appBspDemo.vcproj", "{255A379C-F159-5362-4024-D5ADB9F5FBD2}"
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appCcdPhysicsDemo", "appCcdPhysicsDemo.vcproj", "{7284F809-AF30-6315-88C6-86F1C0798760}"
@@ -52,6 +54,10 @@ Global
 		ConfigName.1 = Debug
 	EndGlobalSection
 	GlobalSection(ProjectDependencies) = postSolution
+		{3578834A-4B06-DE6F-78AC-FE11F7226D35}.0 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
+		{3578834A-4B06-DE6F-78AC-FE11F7226D35}.1 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{3578834A-4B06-DE6F-78AC-FE11F7226D35}.2 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{3578834A-4B06-DE6F-78AC-FE11F7226D35}.3 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
 		{255A379C-F159-5362-4024-D5ADB9F5FBD2}.0 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
 		{255A379C-F159-5362-4024-D5ADB9F5FBD2}.1 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
 		{255A379C-F159-5362-4024-D5ADB9F5FBD2}.2 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
@@ -113,39 +119,41 @@ Global
 		{330B5049-6935-5CE6-79B7-28F570962895}.1 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
 		{330B5049-6935-5CE6-79B7-28F570962895}.2 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
 		{330B5049-6935-5CE6-79B7-28F570962895}.3 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
-		{6210A080-01C0-6D67-F1DB-669393175402}.0 = {255A379C-F159-5362-4024-D5ADB9F5FBD2}
-		{6210A080-01C0-6D67-F1DB-669393175402}.1 = {7284F809-AF30-6315-88C6-86F1C0798760}
-		{6210A080-01C0-6D67-F1DB-669393175402}.2 = {D7BF5DDA-C097-9E8B-5EC1-40DE45FB46BF}
-		{6210A080-01C0-6D67-F1DB-669393175402}.3 = {E70DB92E-C1F5-AE72-F9E2-DB9B4B3DBEC9}
-		{6210A080-01C0-6D67-F1DB-669393175402}.4 = {F38629D2-EEB2-1A09-FB82-52B8A8DE759B}
-		{6210A080-01C0-6D67-F1DB-669393175402}.5 = {B94C19C6-F6E7-2F60-56E2-E0BA681B74B3}
-		{6210A080-01C0-6D67-F1DB-669393175402}.6 = {DAA547D0-0166-C085-0F93-B88CAB800F97}
-		{6210A080-01C0-6D67-F1DB-669393175402}.7 = {801CB6D4-A45C-C9D2-B176-9711A74B9164}
-		{6210A080-01C0-6D67-F1DB-669393175402}.8 = {69C821C7-1E18-D894-068D-C55E063F4859}
-		{6210A080-01C0-6D67-F1DB-669393175402}.9 = {780752A8-6322-5D3E-EF42-D0FD8BF9CEA1}
-		{6210A080-01C0-6D67-F1DB-669393175402}.10 = {60F71B6A-F888-C449-EF49-268BB9F7C963}
-		{6210A080-01C0-6D67-F1DB-669393175402}.11 = {60A1DC9D-F837-3923-E9DE-A7925394A578}
-		{6210A080-01C0-6D67-F1DB-669393175402}.12 = {330B5049-6935-5CE6-79B7-28F570962895}
-		{6210A080-01C0-6D67-F1DB-669393175402}.13 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
-		{6210A080-01C0-6D67-F1DB-669393175402}.14 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
-		{6210A080-01C0-6D67-F1DB-669393175402}.15 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
-		{6210A080-01C0-6D67-F1DB-669393175402}.16 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
-		{6210A080-01C0-6D67-F1DB-669393175402}.17 = {6AB01C9C-9163-F400-B5C3-20D046631E17}
-		{6210A080-01C0-6D67-F1DB-669393175402}.18 = {8050F819-5B5B-1504-BC6D-7F2B4C6C85F3}
-		{6210A080-01C0-6D67-F1DB-669393175402}.19 = {A0958CD9-0E39-4A77-3711-9B488F508FBF}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.0 = {255A379C-F159-5362-4024-D5ADB9F5FBD2}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.1 = {7284F809-AF30-6315-88C6-86F1C0798760}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.2 = {D7BF5DDA-C097-9E8B-5EC1-40DE45FB46BF}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.3 = {E70DB92E-C1F5-AE72-F9E2-DB9B4B3DBEC9}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.4 = {F38629D2-EEB2-1A09-FB82-52B8A8DE759B}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.5 = {B94C19C6-F6E7-2F60-56E2-E0BA681B74B3}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.6 = {DAA547D0-0166-C085-0F93-B88CAB800F97}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.7 = {801CB6D4-A45C-C9D2-B176-9711A74B9164}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.8 = {69C821C7-1E18-D894-068D-C55E063F4859}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.9 = {780752A8-6322-5D3E-EF42-D0FD8BF9CEA1}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.10 = {60F71B6A-F888-C449-EF49-268BB9F7C963}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.11 = {60A1DC9D-F837-3923-E9DE-A7925394A578}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.12 = {330B5049-6935-5CE6-79B7-28F570962895}
+		{6210A080-01C0-6D67-F1DB-669393175402}.0 = {3578834A-4B06-DE6F-78AC-FE11F7226D35}
+		{6210A080-01C0-6D67-F1DB-669393175402}.1 = {255A379C-F159-5362-4024-D5ADB9F5FBD2}
+		{6210A080-01C0-6D67-F1DB-669393175402}.2 = {7284F809-AF30-6315-88C6-86F1C0798760}
+		{6210A080-01C0-6D67-F1DB-669393175402}.3 = {D7BF5DDA-C097-9E8B-5EC1-40DE45FB46BF}
+		{6210A080-01C0-6D67-F1DB-669393175402}.4 = {E70DB92E-C1F5-AE72-F9E2-DB9B4B3DBEC9}
+		{6210A080-01C0-6D67-F1DB-669393175402}.5 = {F38629D2-EEB2-1A09-FB82-52B8A8DE759B}
+		{6210A080-01C0-6D67-F1DB-669393175402}.6 = {B94C19C6-F6E7-2F60-56E2-E0BA681B74B3}
+		{6210A080-01C0-6D67-F1DB-669393175402}.7 = {DAA547D0-0166-C085-0F93-B88CAB800F97}
+		{6210A080-01C0-6D67-F1DB-669393175402}.8 = {801CB6D4-A45C-C9D2-B176-9711A74B9164}
+		{6210A080-01C0-6D67-F1DB-669393175402}.9 = {69C821C7-1E18-D894-068D-C55E063F4859}
+		{6210A080-01C0-6D67-F1DB-669393175402}.10 = {780752A8-6322-5D3E-EF42-D0FD8BF9CEA1}
+		{6210A080-01C0-6D67-F1DB-669393175402}.11 = {60F71B6A-F888-C449-EF49-268BB9F7C963}
+		{6210A080-01C0-6D67-F1DB-669393175402}.12 = {60A1DC9D-F837-3923-E9DE-A7925394A578}
+		{6210A080-01C0-6D67-F1DB-669393175402}.13 = {330B5049-6935-5CE6-79B7-28F570962895}
+		{6210A080-01C0-6D67-F1DB-669393175402}.14 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
+		{6210A080-01C0-6D67-F1DB-669393175402}.15 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{6210A080-01C0-6D67-F1DB-669393175402}.16 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{6210A080-01C0-6D67-F1DB-669393175402}.17 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
+		{6210A080-01C0-6D67-F1DB-669393175402}.18 = {6AB01C9C-9163-F400-B5C3-20D046631E17}
+		{6210A080-01C0-6D67-F1DB-669393175402}.19 = {8050F819-5B5B-1504-BC6D-7F2B4C6C85F3}
+		{6210A080-01C0-6D67-F1DB-669393175402}.20 = {A0958CD9-0E39-4A77-3711-9B488F508FBF}
+		{9E59B16D-0924-409C-1611-DF2207A0053F}.0 = {3578834A-4B06-DE6F-78AC-FE11F7226D35}
+		{9E59B16D-0924-409C-1611-DF2207A0053F}.1 = {255A379C-F159-5362-4024-D5ADB9F5FBD2}
+		{9E59B16D-0924-409C-1611-DF2207A0053F}.2 = {7284F809-AF30-6315-88C6-86F1C0798760}
+		{9E59B16D-0924-409C-1611-DF2207A0053F}.3 = {D7BF5DDA-C097-9E8B-5EC1-40DE45FB46BF}
+		{9E59B16D-0924-409C-1611-DF2207A0053F}.4 = {E70DB92E-C1F5-AE72-F9E2-DB9B4B3DBEC9}
+		{9E59B16D-0924-409C-1611-DF2207A0053F}.5 = {F38629D2-EEB2-1A09-FB82-52B8A8DE759B}
+		{9E59B16D-0924-409C-1611-DF2207A0053F}.6 = {B94C19C6-F6E7-2F60-56E2-E0BA681B74B3}
+		{9E59B16D-0924-409C-1611-DF2207A0053F}.7 = {DAA547D0-0166-C085-0F93-B88CAB800F97}
+		{9E59B16D-0924-409C-1611-DF2207A0053F}.8 = {801CB6D4-A45C-C9D2-B176-9711A74B9164}
+		{9E59B16D-0924-409C-1611-DF2207A0053F}.9 = {69C821C7-1E18-D894-068D-C55E063F4859}
+		{9E59B16D-0924-409C-1611-DF2207A0053F}.10 = {780752A8-6322-5D3E-EF42-D0FD8BF9CEA1}
+		{9E59B16D-0924-409C-1611-DF2207A0053F}.11 = {60F71B6A-F888-C449-EF49-268BB9F7C963}
+		{9E59B16D-0924-409C-1611-DF2207A0053F}.12 = {60A1DC9D-F837-3923-E9DE-A7925394A578}
+		{9E59B16D-0924-409C-1611-DF2207A0053F}.13 = {330B5049-6935-5CE6-79B7-28F570962895}
 		{DFAF0062-4CD7-9AB8-0683-A6026B326F56}.0 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
 		{DFAF0062-4CD7-9AB8-0683-A6026B326F56}.1 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
 		{DFAF0062-4CD7-9AB8-0683-A6026B326F56}.2 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
@@ -155,6 +163,10 @@ Global
 		{DFAF0062-4CD7-9AB8-0683-A6026B326F56}.6 = {A0958CD9-0E39-4A77-3711-9B488F508FBF}
 	EndGlobalSection
 	GlobalSection(ProjectConfiguration) = postSolution
+		{3578834A-4B06-DE6F-78AC-FE11F7226D35}.Release.ActiveCfg = Release|Win32
+		{3578834A-4B06-DE6F-78AC-FE11F7226D35}.Release.Build.0 = Release|Win32
+		{3578834A-4B06-DE6F-78AC-FE11F7226D35}.Debug.ActiveCfg = Debug|Win32
+		{3578834A-4B06-DE6F-78AC-FE11F7226D35}.Debug.Build.0 = Debug|Win32
 		{255A379C-F159-5362-4024-D5ADB9F5FBD2}.Release.ActiveCfg = Release|Win32
 		{255A379C-F159-5362-4024-D5ADB9F5FBD2}.Release.Build.0 = Release|Win32
 		{255A379C-F159-5362-4024-D5ADB9F5FBD2}.Debug.ActiveCfg = Debug|Win32
diff --git a/msvc/8/appBasicDemo.vcproj b/msvc/8/appBasicDemo.vcproj
new file mode 100644
index 000000000..4db38eb95
--- /dev/null
+++ b/msvc/8/appBasicDemo.vcproj
@@ -0,0 +1,190 @@
+<?xml version="1.0" encoding = "Windows-1252"?>
+<VisualStudioProject
+	ProjectType="Visual C++"
+	Version="8.00"
+	Name="appBasicDemo"
+	ProjectGUID="{3578834A-4B06-DE6F-78AC-FE11F7226D35}"
+	SccProjectName=""
+	SccLocalPath="">
+	<Platforms>
+		<Platform
+			Name="Win32"/>
+	</Platforms>
+	<Configurations>
+		<Configuration
+			Name="Release|Win32"
+			OutputDirectory="..\..\out\release8\build\appBasicDemo\"
+			IntermediateDirectory="..\..\out\release8\build\appBasicDemo\"
+			ConfigurationType="1"
+			CharacterSet="2"
+			WholeProgramOptimization="1"
+			UseOfMFC="0"
+			ATLMinimizesCRunTimeLibraryUsage="FALSE">
+			<Tool
+				Name="VCCLCompilerTool"
+				Optimization="2"
+				StringPooling="TRUE"
+				EnableFunctionLevelLinking="TRUE"
+				RuntimeLibrary="0"
+				DebugInformationFormat="3"
+				BufferSecurityCheck="FALSE"
+				PreprocessorDefinitions="NDEBUG;_CONSOLE;WIN32"
+				OptimizeForProcessor="1"
+				ExceptionHandling="0"
+				AdditionalOptions=" "
+				AdditionalIncludeDirectories=".;..\..;..\..\src;..\..\Extras\ConvexDecomposition;..\..\Extras\COLLADA_DOM\include;..\..\Extras\COLLADA_DOM\include\1.4;..\..\Extras\LibXML\include;..\..\Extras\PhysicsInterface\Common;..\..\Extras\PhysicsInterface\CcdPhysics;..\..\Glut;..\..\Demos\OpenGL"
+				PrecompiledHeaderFile="..\..\out\release8\build\appBasicDemo\appBasicDemo.pch"
+				AssemblerListingLocation="..\..\out\release8\build\appBasicDemo\"
+				ObjectFile="..\..\out\release8\build\appBasicDemo\"
+				ProgramDataBaseFileName="..\..\out\release8\build\appBasicDemo\BasicDemo.pdb"
+				WarningLevel="3"
+				SuppressStartupBanner="TRUE"
+				Detect64BitPortabilityProblems="TRUE"
+				TreatWChar_tAsBuiltInType="false"
+				CompileAs="0"/>
+			<Tool
+				Name="VCCustomBuildTool"/>
+			<Tool
+				Name="VCLinkerTool"
+				LinkIncremental="1"
+				OptimizeReferences="2"
+				EnableCOMDATFolding="2"
+				GenerateDebugInformation="TRUE"
+				IgnoreDefaultLibraryNames="LIBC,LIBCD"
+				OutputFile="..\..\BasicDemo.exe"
+				SubSystem="1"
+				AdditionalOptions=" "
+				AdditionalDependencies="glut32.lib"
+				IgnoreImportLibrary="TRUE"
+				SuppressStartupBanner="TRUE"
+				GenerateManifest="false"
+				AdditionalLibraryDirectories="..\..\Glut"
+				ProgramDatabaseFile="..\..\out\release8\build\appBasicDemo\BasicDemo.pdb"
+				TargetMachine="1"/>
+			<Tool
+				Name="VCLibrarianTool"
+				SuppressStartupBanner="TRUE"/>
+			<Tool
+				Name="VCMIDLTool"
+				PreprocessorDefinitions="NDEBUG;_CONSOLE"
+				MkTypLibCompatible="TRUE"
+				SuppressStartupBanner="TRUE"
+				TargetEnvironment="1"
+				TypeLibraryName="..\..\out\release8\build\appBasicDemo\appBasicDemo.tlb"/>
+			<Tool
+				Name="VCPostBuildEventTool"
+				/>
+			<Tool
+				Name="VCPreBuildEventTool"/>
+			<Tool
+				Name="VCPreLinkEventTool"/>
+			<Tool
+				Name="VCResourceCompilerTool"
+				PreprocessorDefinitions="NDEBUG;_CONSOLE;PROJECTGEN_VERSION=8"
+				AdditionalIncludeDirectories=".;..\..;..\..\src;..\..\Extras\ConvexDecomposition;..\..\Extras\COLLADA_DOM\include;..\..\Extras\COLLADA_DOM\include\1.4;..\..\Extras\LibXML\include;..\..\Extras\PhysicsInterface\Common;..\..\Extras\PhysicsInterface\CcdPhysics;..\..\Glut;..\..\Demos\OpenGL"
+				Culture="1033"/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"/>
+			<Tool
+				Name="VCWebDeploymentTool"/>
+		</Configuration>
+		<Configuration
+			Name="Debug|Win32"
+			OutputDirectory="..\..\out\debug8\build\appBasicDemo\"
+			IntermediateDirectory="..\..\out\debug8\build\appBasicDemo\"
+			ConfigurationType="1"
+			CharacterSet="2"
+			UseOfMFC="0"
+			ATLMinimizesCRunTimeLibraryUsage="FALSE">
+			<Tool
+				Name="VCCLCompilerTool"
+				Optimization="0"
+				MinimalRebuild="TRUE"
+				DebugInformationFormat="4"
+				RuntimeTypeInfo="FALSE"
+				RuntimeLibrary="1"
+				PreprocessorDefinitions="_DEBUG;_CONSOLE;WIN32"
+				OptimizeForProcessor="1"
+				ExceptionHandling="0"
+				AdditionalOptions=" "
+				AdditionalIncludeDirectories=".;..\..;..\..\src;..\..\Extras\ConvexDecomposition;..\..\Extras\COLLADA_DOM\include;..\..\Extras\COLLADA_DOM\include\1.4;..\..\Extras\LibXML\include;..\..\Extras\PhysicsInterface\Common;..\..\Extras\PhysicsInterface\CcdPhysics;..\..\Glut;..\..\Demos\OpenGL"
+				PrecompiledHeaderFile="..\..\out\debug8\build\appBasicDemo\appBasicDemo.pch"
+				AssemblerListingLocation="..\..\out\debug8\build\appBasicDemo\"
+				ObjectFile="..\..\out\debug8\build\appBasicDemo\"
+				ProgramDataBaseFileName="..\..\out\debug8\build\appBasicDemo\BasicDemo.pdb"
+				WarningLevel="3"
+				SuppressStartupBanner="TRUE"
+				Detect64BitPortabilityProblems="TRUE"
+				TreatWChar_tAsBuiltInType="false"
+				CompileAs="0"/>
+			<Tool
+				Name="VCCustomBuildTool"/>
+			<Tool
+				Name="VCLinkerTool"
+				LinkIncremental="2"
+				GenerateDebugInformation="TRUE"
+				IgnoreDefaultLibraryNames="LIBC,LIBCD"
+				OutputFile="..\..\BasicDemo.exe"
+				SubSystem="1"
+				AdditionalOptions=" "
+				AdditionalDependencies="glut32.lib"
+				IgnoreImportLibrary="TRUE"
+				SuppressStartupBanner="TRUE"
+				GenerateManifest="false"
+				AdditionalLibraryDirectories="..\..\Glut"
+				ProgramDatabaseFile="..\..\out\debug8\build\appBasicDemo\BasicDemo.pdb"
+				TargetMachine="1"/>
+			<Tool
+				Name="VCLibrarianTool"
+				SuppressStartupBanner="TRUE"/>
+			<Tool
+				Name="VCMIDLTool"
+				PreprocessorDefinitions="_DEBUG;_CONSOLE"
+				MkTypLibCompatible="TRUE"
+				SuppressStartupBanner="TRUE"
+				TargetEnvironment="1"
+				TypeLibraryName="..\..\out\debug8\build\appBasicDemo\appBasicDemo.tlb"/>
+			<Tool
+				Name="VCPostBuildEventTool"
+				/>
+			<Tool
+				Name="VCPreBuildEventTool"/>
+			<Tool
+				Name="VCPreLinkEventTool"/>
+			<Tool
+				Name="VCResourceCompilerTool"
+				PreprocessorDefinitions="_DEBUG;_CONSOLE;PROJECTGEN_VERSION=8"
+				AdditionalIncludeDirectories=".;..\..;..\..\src;..\..\Extras\ConvexDecomposition;..\..\Extras\COLLADA_DOM\include;..\..\Extras\COLLADA_DOM\include\1.4;..\..\Extras\LibXML\include;..\..\Extras\PhysicsInterface\Common;..\..\Extras\PhysicsInterface\CcdPhysics;..\..\Glut;..\..\Demos\OpenGL"
+				Culture="1033"/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"/>
+			<Tool
+				Name="VCWebDeploymentTool"/>
+		</Configuration>
+	</Configurations>
+	<Files>
+		<Filter
+			Name="Source Files"
+			Filter="">
+			<File
+				RelativePath="..\..\Demos\BasicDemo\BasicDemo.cpp">
+			</File>
+		</Filter>
+		<Filter
+			Name="Header Files"
+			Filter="">
+			<File
+				RelativePath="..\..\Demos\BasicDemo\BasicDemo.h">
+			</File>
+		</Filter>
+		<Filter
+			Name="Resource Files"
+			Filter="">
+			<File
+				RelativePath="..\..\msvc\appBasicDemo.rc">
+			</File>
+		</Filter>
+	</Files>
+	<Globals>
+	</Globals>
+</VisualStudioProject>
diff --git a/msvc/8/libbulletmath.vcproj b/msvc/8/libbulletmath.vcproj
index 5ab57e27b..134ac1d95 100644
--- a/msvc/8/libbulletmath.vcproj
+++ b/msvc/8/libbulletmath.vcproj
@@ -183,6 +183,9 @@
 			<File
 				RelativePath="..\..\src\LinearMath\btMinMax.h">
 			</File>
+			<File
+				RelativePath="..\..\src\LinearMath\btMotionState.h">
+			</File>
 			<File
 				RelativePath="..\..\src\LinearMath\btPoint3.h">
 			</File>
diff --git a/msvc/8/wksbullet.sln b/msvc/8/wksbullet.sln
index 74d12948d..90bb5ec82 100644
--- a/msvc/8/wksbullet.sln
+++ b/msvc/8/wksbullet.sln
@@ -1,5 +1,7 @@
 Microsoft Visual Studio Solution File, Format Version 9.00
 # Visual C++ Express 2005
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appBasicDemo", "appBasicDemo.vcproj", "{3578834A-4B06-DE6F-78AC-FE11F7226D35}"
+EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appBspDemo", "appBspDemo.vcproj", "{255A379C-F159-5362-4024-D5ADB9F5FBD2}"
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appCcdPhysicsDemo", "appCcdPhysicsDemo.vcproj", "{7284F809-AF30-6315-88C6-86F1C0798760}"
@@ -52,6 +54,10 @@ Global
 		ConfigName.1 = Debug
 	EndGlobalSection
 	GlobalSection(ProjectDependencies) = postSolution
+		{3578834A-4B06-DE6F-78AC-FE11F7226D35}.0 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
+		{3578834A-4B06-DE6F-78AC-FE11F7226D35}.1 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{3578834A-4B06-DE6F-78AC-FE11F7226D35}.2 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{3578834A-4B06-DE6F-78AC-FE11F7226D35}.3 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
 		{255A379C-F159-5362-4024-D5ADB9F5FBD2}.0 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
 		{255A379C-F159-5362-4024-D5ADB9F5FBD2}.1 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
 		{255A379C-F159-5362-4024-D5ADB9F5FBD2}.2 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
@@ -113,39 +119,41 @@ Global
 		{330B5049-6935-5CE6-79B7-28F570962895}.1 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
 		{330B5049-6935-5CE6-79B7-28F570962895}.2 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
 		{330B5049-6935-5CE6-79B7-28F570962895}.3 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
-		{6210A080-01C0-6D67-F1DB-669393175402}.0 = {255A379C-F159-5362-4024-D5ADB9F5FBD2}
-		{6210A080-01C0-6D67-F1DB-669393175402}.1 = {7284F809-AF30-6315-88C6-86F1C0798760}
-		{6210A080-01C0-6D67-F1DB-669393175402}.2 = {D7BF5DDA-C097-9E8B-5EC1-40DE45FB46BF}
-		{6210A080-01C0-6D67-F1DB-669393175402}.3 = {E70DB92E-C1F5-AE72-F9E2-DB9B4B3DBEC9}
-		{6210A080-01C0-6D67-F1DB-669393175402}.4 = {F38629D2-EEB2-1A09-FB82-52B8A8DE759B}
-		{6210A080-01C0-6D67-F1DB-669393175402}.5 = {B94C19C6-F6E7-2F60-56E2-E0BA681B74B3}
-		{6210A080-01C0-6D67-F1DB-669393175402}.6 = {DAA547D0-0166-C085-0F93-B88CAB800F97}
-		{6210A080-01C0-6D67-F1DB-669393175402}.7 = {801CB6D4-A45C-C9D2-B176-9711A74B9164}
-		{6210A080-01C0-6D67-F1DB-669393175402}.8 = {69C821C7-1E18-D894-068D-C55E063F4859}
-		{6210A080-01C0-6D67-F1DB-669393175402}.9 = {780752A8-6322-5D3E-EF42-D0FD8BF9CEA1}
-		{6210A080-01C0-6D67-F1DB-669393175402}.10 = {60F71B6A-F888-C449-EF49-268BB9F7C963}
-		{6210A080-01C0-6D67-F1DB-669393175402}.11 = {60A1DC9D-F837-3923-E9DE-A7925394A578}
-		{6210A080-01C0-6D67-F1DB-669393175402}.12 = {330B5049-6935-5CE6-79B7-28F570962895}
-		{6210A080-01C0-6D67-F1DB-669393175402}.13 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
-		{6210A080-01C0-6D67-F1DB-669393175402}.14 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
-		{6210A080-01C0-6D67-F1DB-669393175402}.15 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
-		{6210A080-01C0-6D67-F1DB-669393175402}.16 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
-		{6210A080-01C0-6D67-F1DB-669393175402}.17 = {6AB01C9C-9163-F400-B5C3-20D046631E17}
-		{6210A080-01C0-6D67-F1DB-669393175402}.18 = {8050F819-5B5B-1504-BC6D-7F2B4C6C85F3}
-		{6210A080-01C0-6D67-F1DB-669393175402}.19 = {A0958CD9-0E39-4A77-3711-9B488F508FBF}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.0 = {255A379C-F159-5362-4024-D5ADB9F5FBD2}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.1 = {7284F809-AF30-6315-88C6-86F1C0798760}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.2 = {D7BF5DDA-C097-9E8B-5EC1-40DE45FB46BF}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.3 = {E70DB92E-C1F5-AE72-F9E2-DB9B4B3DBEC9}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.4 = {F38629D2-EEB2-1A09-FB82-52B8A8DE759B}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.5 = {B94C19C6-F6E7-2F60-56E2-E0BA681B74B3}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.6 = {DAA547D0-0166-C085-0F93-B88CAB800F97}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.7 = {801CB6D4-A45C-C9D2-B176-9711A74B9164}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.8 = {69C821C7-1E18-D894-068D-C55E063F4859}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.9 = {780752A8-6322-5D3E-EF42-D0FD8BF9CEA1}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.10 = {60F71B6A-F888-C449-EF49-268BB9F7C963}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.11 = {60A1DC9D-F837-3923-E9DE-A7925394A578}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.12 = {330B5049-6935-5CE6-79B7-28F570962895}
+		{6210A080-01C0-6D67-F1DB-669393175402}.0 = {3578834A-4B06-DE6F-78AC-FE11F7226D35}
+		{6210A080-01C0-6D67-F1DB-669393175402}.1 = {255A379C-F159-5362-4024-D5ADB9F5FBD2}
+		{6210A080-01C0-6D67-F1DB-669393175402}.2 = {7284F809-AF30-6315-88C6-86F1C0798760}
+		{6210A080-01C0-6D67-F1DB-669393175402}.3 = {D7BF5DDA-C097-9E8B-5EC1-40DE45FB46BF}
+		{6210A080-01C0-6D67-F1DB-669393175402}.4 = {E70DB92E-C1F5-AE72-F9E2-DB9B4B3DBEC9}
+		{6210A080-01C0-6D67-F1DB-669393175402}.5 = {F38629D2-EEB2-1A09-FB82-52B8A8DE759B}
+		{6210A080-01C0-6D67-F1DB-669393175402}.6 = {B94C19C6-F6E7-2F60-56E2-E0BA681B74B3}
+		{6210A080-01C0-6D67-F1DB-669393175402}.7 = {DAA547D0-0166-C085-0F93-B88CAB800F97}
+		{6210A080-01C0-6D67-F1DB-669393175402}.8 = {801CB6D4-A45C-C9D2-B176-9711A74B9164}
+		{6210A080-01C0-6D67-F1DB-669393175402}.9 = {69C821C7-1E18-D894-068D-C55E063F4859}
+		{6210A080-01C0-6D67-F1DB-669393175402}.10 = {780752A8-6322-5D3E-EF42-D0FD8BF9CEA1}
+		{6210A080-01C0-6D67-F1DB-669393175402}.11 = {60F71B6A-F888-C449-EF49-268BB9F7C963}
+		{6210A080-01C0-6D67-F1DB-669393175402}.12 = {60A1DC9D-F837-3923-E9DE-A7925394A578}
+		{6210A080-01C0-6D67-F1DB-669393175402}.13 = {330B5049-6935-5CE6-79B7-28F570962895}
+		{6210A080-01C0-6D67-F1DB-669393175402}.14 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
+		{6210A080-01C0-6D67-F1DB-669393175402}.15 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{6210A080-01C0-6D67-F1DB-669393175402}.16 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{6210A080-01C0-6D67-F1DB-669393175402}.17 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
+		{6210A080-01C0-6D67-F1DB-669393175402}.18 = {6AB01C9C-9163-F400-B5C3-20D046631E17}
+		{6210A080-01C0-6D67-F1DB-669393175402}.19 = {8050F819-5B5B-1504-BC6D-7F2B4C6C85F3}
+		{6210A080-01C0-6D67-F1DB-669393175402}.20 = {A0958CD9-0E39-4A77-3711-9B488F508FBF}
+		{9E59B16D-0924-409C-1611-DF2207A0053F}.0 = {3578834A-4B06-DE6F-78AC-FE11F7226D35}
+		{9E59B16D-0924-409C-1611-DF2207A0053F}.1 = {255A379C-F159-5362-4024-D5ADB9F5FBD2}
+		{9E59B16D-0924-409C-1611-DF2207A0053F}.2 = {7284F809-AF30-6315-88C6-86F1C0798760}
+		{9E59B16D-0924-409C-1611-DF2207A0053F}.3 = {D7BF5DDA-C097-9E8B-5EC1-40DE45FB46BF}
+		{9E59B16D-0924-409C-1611-DF2207A0053F}.4 = {E70DB92E-C1F5-AE72-F9E2-DB9B4B3DBEC9}
+		{9E59B16D-0924-409C-1611-DF2207A0053F}.5 = {F38629D2-EEB2-1A09-FB82-52B8A8DE759B}
+		{9E59B16D-0924-409C-1611-DF2207A0053F}.6 = {B94C19C6-F6E7-2F60-56E2-E0BA681B74B3}
+		{9E59B16D-0924-409C-1611-DF2207A0053F}.7 = {DAA547D0-0166-C085-0F93-B88CAB800F97}
+		{9E59B16D-0924-409C-1611-DF2207A0053F}.8 = {801CB6D4-A45C-C9D2-B176-9711A74B9164}
+		{9E59B16D-0924-409C-1611-DF2207A0053F}.9 = {69C821C7-1E18-D894-068D-C55E063F4859}
+		{9E59B16D-0924-409C-1611-DF2207A0053F}.10 = {780752A8-6322-5D3E-EF42-D0FD8BF9CEA1}
+		{9E59B16D-0924-409C-1611-DF2207A0053F}.11 = {60F71B6A-F888-C449-EF49-268BB9F7C963}
+		{9E59B16D-0924-409C-1611-DF2207A0053F}.12 = {60A1DC9D-F837-3923-E9DE-A7925394A578}
+		{9E59B16D-0924-409C-1611-DF2207A0053F}.13 = {330B5049-6935-5CE6-79B7-28F570962895}
 		{DFAF0062-4CD7-9AB8-0683-A6026B326F56}.0 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
 		{DFAF0062-4CD7-9AB8-0683-A6026B326F56}.1 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
 		{DFAF0062-4CD7-9AB8-0683-A6026B326F56}.2 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
@@ -155,6 +163,10 @@ Global
 		{DFAF0062-4CD7-9AB8-0683-A6026B326F56}.6 = {A0958CD9-0E39-4A77-3711-9B488F508FBF}
 	EndGlobalSection
 	GlobalSection(ProjectConfiguration) = postSolution
+		{3578834A-4B06-DE6F-78AC-FE11F7226D35}.Release.ActiveCfg = Release|Win32
+		{3578834A-4B06-DE6F-78AC-FE11F7226D35}.Release.Build.0 = Release|Win32
+		{3578834A-4B06-DE6F-78AC-FE11F7226D35}.Debug.ActiveCfg = Debug|Win32
+		{3578834A-4B06-DE6F-78AC-FE11F7226D35}.Debug.Build.0 = Debug|Win32
 		{255A379C-F159-5362-4024-D5ADB9F5FBD2}.Release.ActiveCfg = Release|Win32
 		{255A379C-F159-5362-4024-D5ADB9F5FBD2}.Release.Build.0 = Release|Win32
 		{255A379C-F159-5362-4024-D5ADB9F5FBD2}.Debug.ActiveCfg = Debug|Win32
diff --git a/msvc/appBasicDemo.rc b/msvc/appBasicDemo.rc
new file mode 100644
index 000000000..3aba03c08
--- /dev/null
+++ b/msvc/appBasicDemo.rc
@@ -0,0 +1,30 @@
+// This file is generated automatically.
+
+1 VERSIONINFO
+FILEVERSION 1, 9, 0, 0
+PRODUCTVERSION 1, 9, 0, 0
+#ifdef CS_DEBUG
+FILEFLAGS 0x1
+#else
+FILEFLAGS 0x0
+#endif
+{
+  BLOCK "StringFileInfo"
+  {
+    BLOCK "040904E4"
+    {
+      VALUE "ProductName", "Bullet Continuous Collision Detection and Physics Library"
+      VALUE "ProductVersion", "1.9"
+      VALUE "FileVersion", "1.9"
+      VALUE "LegalCopyright", "Copyright (c) 2005-2006 Erwin Coumans"
+      VALUE "FileDescription", "BasicDemo"
+#ifdef CS_DEBUG
+      VALUE "Comments", "Debug build"
+#else
+      VALUE "Comments", "Release build"
+#endif
+      VALUE "WWW", "http://www.continuousphysics.com/Bullet/"
+    }
+  }
+}
+1 ICON "../../msvc/bullet_ico.ico"
diff --git a/src/LinearMath/btTransform.h b/src/LinearMath/btTransform.h
index 1ab36cedc..3f9a48407 100644
--- a/src/LinearMath/btTransform.h
+++ b/src/LinearMath/btTransform.h
@@ -21,21 +21,13 @@ subject to the following restrictions:
 #include "LinearMath/btMatrix3x3.h"
 
 
-
+///btTransform supports rigid transforms (only translation and rotation, no scaling/shear)
 class btTransform {
 	
 
 public:
 	
-	enum { 
-		TRANSLATION = 0x01,
-		ROTATION    = 0x02,
-		RIGID       = TRANSLATION | ROTATION,  
-		SCALING     = 0x04,
-		LINEAR      = ROTATION | SCALING,
-		AFFINE      = TRANSLATION | LINEAR
-	};
-
+	
 	btTransform() {}
 
 	explicit SIMD_FORCE_INLINE btTransform(const btQuaternion& q, 
@@ -45,8 +37,7 @@ public:
 	{}
 
 	explicit SIMD_FORCE_INLINE btTransform(const btMatrix3x3& b, 
-		const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0)), 
-		unsigned int type = AFFINE)
+		const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0)))
 		: m_basis(b),
 		m_origin(c)
 	{}
@@ -130,10 +121,7 @@ public:
 		m_basis.setRotation(q);
 	}
 
-	SIMD_FORCE_INLINE void scale(const btVector3& scaling)
-	{
-		m_basis = m_basis.scaled(scaling);
-	}
+
 
 	void setIdentity()
 	{