diff --git a/src/Bullet3OpenCL/RigidBody/b3GpuBatchingPgsSolver.cpp b/src/Bullet3OpenCL/RigidBody/b3GpuBatchingPgsSolver.cpp
index 120f596ff..8be2c3929 100644
--- a/src/Bullet3OpenCL/RigidBody/b3GpuBatchingPgsSolver.cpp
+++ b/src/Bullet3OpenCL/RigidBody/b3GpuBatchingPgsSolver.cpp
@@ -373,7 +373,7 @@ void b3GpuBatchingPgsSolver::solveContactConstraint(  const b3OpenCLArray<b3Rigi
 				}
 			}
 		
-			//clFinish(m_data->m_queue);
+			clFinish(m_data->m_queue);
 
 
 		}
@@ -416,7 +416,7 @@ void b3GpuBatchingPgsSolver::solveContactConstraint(  const b3OpenCLArray<b3Rigi
 					launcher.launch1D( 64*nn/B3_SOLVER_N_BATCHES, 64 );
 				}
 			}
-			//clFinish(m_data->m_queue);
+			clFinish(m_data->m_queue);
 			
 		}
 #ifdef DEBUG_ME
@@ -838,7 +838,8 @@ void b3GpuBatchingPgsSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
 					launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
 					launcher.setConst(  cdata );
 					launcher.launch1D( nContacts, 64 );
-					//clFinish(m_data->m_queue);
+					//we use the clFinish for proper benchmark/profile
+					clFinish(m_data->m_queue);
 				}
                 
                 
@@ -900,7 +901,9 @@ void b3GpuBatchingPgsSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
 										b3Printf("maxNumBatches = %d\n",maxNumBatches);
 									}
                                 
-									//clFinish(m_data->m_queue);
+									//we use the clFinish for proper benchmark/profile
+									clFinish(m_data->m_queue);
+									
                                 
 								}
 							}
@@ -925,7 +928,7 @@ void b3GpuBatchingPgsSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
 						contactConstraintOut, 
 						additionalData, nContacts, 
 						(b3SolverBase::ConstraintCfg&) csCfg );
-                    //clFinish(m_data->m_queue);
+                    clFinish(m_data->m_queue);
                 }
                 
                 
@@ -968,7 +971,7 @@ void b3GpuBatchingPgsSolver::solveContacts(int numBodies, cl_mem bodyBuf, cl_mem
 				m_data->m_solverGPU->solveContactConstraintHost(m_data->m_bodyBufferGPU, m_data->m_inertiaBufferGPU, m_data->m_contactCGPU,0, nContactOut ,maxNumBatches);
 			}
             
-            //clFinish(m_data->m_queue);
+            
         }
         
         
diff --git a/src/Bullet3OpenCL/RigidBody/b3Solver.cpp b/src/Bullet3OpenCL/RigidBody/b3Solver.cpp
index 139795b1a..903e26f90 100644
--- a/src/Bullet3OpenCL/RigidBody/b3Solver.cpp
+++ b/src/Bullet3OpenCL/RigidBody/b3Solver.cpp
@@ -159,6 +159,7 @@ b3Solver::b3Solver(cl_context ctx, cl_device_id device, cl_command_queue queue,
 
 	{
 		cl_program batchingProg = b3OpenCLUtils::compileCLProgramFromString( ctx, device, batchKernelSource, &pErrNum,additionalMacros, B3_BATCHING_PATH);
+		//cl_program batchingProg = b3OpenCLUtils::compileCLProgramFromString( ctx, device, 0, &pErrNum,additionalMacros, B3_BATCHING_PATH,true);
 		b3Assert(batchingProg);
 		
 		m_batchingKernel = b3OpenCLUtils::compileCLKernelFromString( ctx, device, batchKernelSource, "CreateBatches", &pErrNum, batchingProg,additionalMacros );
diff --git a/src/Bullet3OpenCL/RigidBody/kernels/batchingKernels.cl b/src/Bullet3OpenCL/RigidBody/kernels/batchingKernels.cl
index 5087f23b0..f0efbbe43 100644
--- a/src/Bullet3OpenCL/RigidBody/kernels/batchingKernels.cl
+++ b/src/Bullet3OpenCL/RigidBody/kernels/batchingKernels.cl
@@ -216,19 +216,21 @@ __kernel void CreateBatches( __global const Contact4* gConstraints, __global Con
 
 						if( aUsed==0 && bUsed==0 )
 						{
-							int aAvailable;
-							int bAvailable;
+							int aAvailable=1;
+							int bAvailable=1;
 							int ea = abs(e.m_a);
 							int eb = abs(e.m_b);
 
-							aAvailable = tryWrite( ldsCheckBuffer, ea );
-							bAvailable = tryWrite( ldsCheckBuffer, eb );
-
 							bool aStatic = (e.m_a<0) ||(ea==m_staticIdx);
 							bool bStatic = (e.m_b<0) ||(eb==m_staticIdx);
 							
-							aAvailable = aStatic? 1: aAvailable;
-							bAvailable = bStatic? 1: bAvailable;
+							if (!aStatic)
+								aAvailable = tryWrite( ldsCheckBuffer, ea );
+							if (!bStatic)
+								bAvailable = tryWrite( ldsCheckBuffer, eb );
+							
+							//aAvailable = aStatic? 1: aAvailable;
+							//bAvailable = bStatic? 1: bAvailable;
 
 							bool success = (aAvailable && bAvailable);
 							if(success)
diff --git a/src/Bullet3OpenCL/RigidBody/kernels/batchingKernels.h b/src/Bullet3OpenCL/RigidBody/kernels/batchingKernels.h
index c21a5fdaf..5118951b0 100644
--- a/src/Bullet3OpenCL/RigidBody/kernels/batchingKernels.h
+++ b/src/Bullet3OpenCL/RigidBody/kernels/batchingKernels.h
@@ -218,19 +218,21 @@ static const char* batchingKernelsCL= \
 "\n"
 "						if( aUsed==0 && bUsed==0 )\n"
 "						{\n"
-"							int aAvailable;\n"
-"							int bAvailable;\n"
+"							int aAvailable=1;\n"
+"							int bAvailable=1;\n"
 "							int ea = abs(e.m_a);\n"
 "							int eb = abs(e.m_b);\n"
 "\n"
-"							aAvailable = tryWrite( ldsCheckBuffer, ea );\n"
-"							bAvailable = tryWrite( ldsCheckBuffer, eb );\n"
-"\n"
 "							bool aStatic = (e.m_a<0) ||(ea==m_staticIdx);\n"
 "							bool bStatic = (e.m_b<0) ||(eb==m_staticIdx);\n"
 "							\n"
-"							aAvailable = aStatic? 1: aAvailable;\n"
-"							bAvailable = bStatic? 1: bAvailable;\n"
+"							if (!aStatic)\n"
+"								aAvailable = tryWrite( ldsCheckBuffer, ea );\n"
+"							if (!bStatic)\n"
+"								bAvailable = tryWrite( ldsCheckBuffer, eb );\n"
+"							\n"
+"							//aAvailable = aStatic? 1: aAvailable;\n"
+"							//bAvailable = bStatic? 1: bAvailable;\n"
 "\n"
 "							bool success = (aAvailable && bAvailable);\n"
 "							if(success)\n"