diff --git a/Demos/ConcaveDemo/ConcavePhysicsDemo.cpp b/Demos/ConcaveDemo/ConcavePhysicsDemo.cpp
index 08aec94fc..e5ac6cea4 100644
--- a/Demos/ConcaveDemo/ConcavePhysicsDemo.cpp
+++ b/Demos/ConcaveDemo/ConcavePhysicsDemo.cpp
@@ -239,6 +239,7 @@ void	ConcaveDemo::initPhysics()
 
 //	btCollisionShape* groundShape = new btBoxShape(btVector3(50,3,50));
 
+btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
 
 #ifdef USE_PARALLEL_DISPATCHER
 
@@ -258,9 +259,8 @@ void	ConcaveDemo::initPhysics()
 ///you can hook it up to your custom task scheduler by deriving from btThreadSupportInterface
 #endif
 
-	btCollisionDispatcher* dispatcher = new	SpuGatheringCollisionDispatcher(threadSupport,maxNumOutstandingTasks);
+	btCollisionDispatcher* dispatcher = new	SpuGatheringCollisionDispatcher(threadSupport,maxNumOutstandingTasks,collisionConfiguration);
 #else
-		btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
 		btCollisionDispatcher* dispatcher = new	btCollisionDispatcher(collisionConfiguration);
 #endif//USE_PARALLEL_DISPATCHER
 
@@ -284,10 +284,10 @@ void	ConcaveDemo::initPhysics()
 	{
 		for (int i=0;i<10;i++)
 		{
-			btCollisionShape* boxShape = new btBoxShape(btVector3(1,1,1));
-			//btCollisionShape* boxShape = new btSphereShape(1.f);
+			//btCollisionShape* colShape = new btBoxShape(btVector3(1,1,1));
+			btCollisionShape* colShape = new btCapsuleShape(0.5,2.0);//boxShape = new btSphereShape(1.f);
 			startTransform.setOrigin(btVector3(2*i,10,1));
-			localCreateRigidBody(1, startTransform,boxShape);
+			localCreateRigidBody(1, startTransform,colShape);
 		}
 	}
 
diff --git a/src/LinearMath/btQuadWord.h b/src/LinearMath/btQuadWord.h
index 83752a439..f7f5f27ba 100644
--- a/src/LinearMath/btQuadWord.h
+++ b/src/LinearMath/btQuadWord.h
@@ -22,17 +22,10 @@ subject to the following restrictions:
 class btQuadWordStorage
 {
 protected:
-#ifdef BT_USE_DOUBLE_PRECISION
-	union { btScalar	m_x;  unsigned char m_charx[8] ;};
-	union { btScalar	m_y;  unsigned char m_chary[8] ; };
-	union { btScalar	m_z;  unsigned char m_charz[8] ; };
-	union { btScalar	m_unusedW;  unsigned char m_charw[8] ; };
-#else
-	union { btScalar	m_x; unsigned int m_intx; unsigned char m_charx[4] ;};
-	union { btScalar	m_y; unsigned int m_inty; unsigned char m_chary[4] ; };
-	union { btScalar	m_z; unsigned int m_intz; unsigned char m_charz[4] ; };
-	union { btScalar	m_unusedW; unsigned int m_intw; unsigned char m_charw[4] ; };
-#endif //BT_USE_DOUBLE_PRECISION
+	btScalar	m_x;
+	btScalar	m_y;
+	btScalar	m_z;
+	btScalar	m_unusedW;
 };
 
 
@@ -70,86 +63,7 @@ class	btQuadWord : public btQuadWordStorage
 		SIMD_FORCE_INLINE	operator       btScalar *()       { return &m_x; }
 		SIMD_FORCE_INLINE	operator const btScalar *() const { return &m_x; }
 
-#ifdef BT_USE_DOUBLE_PRECISION
-		SIMD_FORCE_INLINE const unsigned char* getLongIntXValue() const
-		{
-			return &m_charx[0];
-		}
-		SIMD_FORCE_INLINE const unsigned char* getLongIntYValue() const
-		{
-			return &m_chary[0];;
-		}
-		SIMD_FORCE_INLINE const unsigned char* getLongIntZValue() const
-		{
-			return &m_charz[0];;
-		}
-		SIMD_FORCE_INLINE const unsigned char* getLongIntWValue() const
-		{
-			return &m_charw[0];;
-		}
-		SIMD_FORCE_INLINE void 	setXValueByLongInt(unsigned char* intval)
-		{
-			int i;
-			for (i=0;i<8;i++)
-				m_charx[i] = intval[i];
-		}
 
-		SIMD_FORCE_INLINE void 	setYValueByLongInt(unsigned char* intval)
-		{
-			int i;
-			for (i=0;i<8;i++)
-				m_chary[i] = intval[i];
-		}
-
-		SIMD_FORCE_INLINE void 	setZValueByLongInt(unsigned char* intval)
-		{
-			int i;
-			for (i=0;i<8;i++)
-				m_charz[i] = intval[i];
-		}
-		SIMD_FORCE_INLINE void 	setWValueByLongInt(unsigned char* intval)
-		{
-			int i;
-			for (i=0;i<8;i++)
-				m_charw[i] = intval[i];
-		}
-#else
-		SIMD_FORCE_INLINE unsigned int getIntXValue() const
-		{
-			return m_intx;
-		}
-		SIMD_FORCE_INLINE unsigned  int getIntYValue() const
-		{
-			return m_inty;
-		}
-		SIMD_FORCE_INLINE unsigned int getIntZValue() const
-		{
-			return m_intz;
-		}
-		SIMD_FORCE_INLINE unsigned int getIntWValue() const
-		{
-			return m_intw;
-		}
-		SIMD_FORCE_INLINE void 	setXValueByInt(unsigned int intval)
-		{
-			m_intx = intval;
-		}
-
-		SIMD_FORCE_INLINE void 	setYValueByInt(unsigned int intval)
-		{
-			m_inty = intval;
-		}
-
-		SIMD_FORCE_INLINE void 	setZValueByInt(unsigned int intval)
-		{
-			m_intz = intval;
-		}
-		SIMD_FORCE_INLINE void 	setWValueByInt(unsigned int intval)
-		{
-			m_intw = intval;
-		}
-
-#endif//BT_USE_DOUBLE_PRECISION
 
 		SIMD_FORCE_INLINE void 	setValue(const btScalar& x, const btScalar& y, const btScalar& z)
 		{
diff --git a/src/LinearMath/btVector3.h b/src/LinearMath/btVector3.h
index 407697d75..ace1549ea 100644
--- a/src/LinearMath/btVector3.h
+++ b/src/LinearMath/btVector3.h
@@ -405,56 +405,59 @@ public:
 
 
 ///btSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization
-SIMD_FORCE_INLINE void	btSwapVector3Endian(const btVector3& source, btVector3& dest)
+SIMD_FORCE_INLINE void	btSwapVector3Endian(const btVector3& sourceVec, btVector3& destVec)
 {
 #ifdef BT_USE_DOUBLE_PRECISION
-	unsigned char tmp[8];
-	btSwapEndianDouble(source.getX(),tmp);
-	dest.setXValueByLongInt(tmp);
-	btSwapEndianDouble(source.getY(),tmp);
-	dest.setYValueByLongInt(tmp);
-	btSwapEndianDouble(source.getZ(),tmp);
-	dest.setZValueByLongInt(tmp);
-	btSwapEndianDouble(source[3],tmp);
-	dest.setWValueByLongInt(tmp);
+	unsigned char* dest = (unsigned char*) &destVec;
+	unsigned char* src  = (unsigned char*) &sourceVec;
+	dest[0] = src[7];
+    dest[1] = src[6];
+    dest[2] = src[5];
+    dest[3] = src[4];
+    dest[4] = src[3];
+    dest[5] = src[2];
+    dest[6] = src[1];
+    dest[7] = src[0];
 #else
-	unsigned int tmp;
-	tmp = btSwapEndianFloat(source.getX());
-	dest.setXValueByInt(tmp);
-	tmp = btSwapEndianFloat(source.getY());
-	dest.setYValueByInt(tmp);
-	tmp = btSwapEndianFloat(source.getZ());
-	dest.setZValueByInt(tmp);
-	tmp = btSwapEndianFloat(source[3]);
-	dest.setWValueByInt(tmp);
+	unsigned char* dest = (unsigned char*) &destVec;
+	unsigned char* src  = (unsigned char*) &sourceVec;
+	dest[0] = src[3];
+    dest[1] = src[2];
+    dest[2] = src[1];
+    dest[3] = src[0];
 #endif //BT_USE_DOUBLE_PRECISION
 }
 ///btUnSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization
 SIMD_FORCE_INLINE void	btUnSwapVector3Endian(btVector3& vector)
 {
+
 #ifdef BT_USE_DOUBLE_PRECISION
-	const unsigned char* tmp;
-	tmp = vector.getLongIntXValue();
-	vector.setX( btUnswapEndianDouble(tmp));
-	tmp = vector.getLongIntYValue();
-	vector.setY( btUnswapEndianDouble(tmp));
-	tmp = vector.getLongIntZValue();
-	vector.setZ( btUnswapEndianDouble(tmp));
-	tmp = vector.getLongIntWValue();
-	vector[3] = btUnswapEndianDouble(tmp);
+	btVector3	swappedVec;
+	unsigned char* dest = (unsigned char*) &swappedVec;
+	unsigned char* src  = (unsigned char*) &vector;
+
+	dest[0] = src[7];
+    dest[1] = src[6];
+    dest[2] = src[5];
+    dest[3] = src[4];
+    dest[4] = src[3];
+    dest[5] = src[2];
+    dest[6] = src[1];
+    dest[7] = src[0];
+
+	vector = swappedVec;
 #else
-	unsigned int tmp;
-	tmp = vector.getIntXValue();
-	vector.setX( btUnswapEndianFloat(tmp));
-	tmp = vector.getIntYValue();
-	vector.setY( btUnswapEndianFloat(tmp));
-	tmp = vector.getIntZValue();
-	vector.setZ( btUnswapEndianFloat(tmp));
-	tmp = vector.getIntWValue();
-	vector[3] = btUnswapEndianFloat(tmp);
+	btVector3	swappedVec;
+	unsigned char* dest = (unsigned char*) &swappedVec;
+	unsigned char* src  = (unsigned char*) &vector;
 
+	dest[0] = src[3];
+    dest[1] = src[2];
+    dest[2] = src[1];
+    dest[3] = src[0];
+
+	vector = swappedVec;
 #endif //BT_USE_DOUBLE_PRECISION
-
 }
 
 #endif //SIMD__VECTOR3_H