diff --git a/src/BulletDynamics/Dynamics/btDynamicsWorld.h b/src/BulletDynamics/Dynamics/btDynamicsWorld.h
index a7b85afbe..105317920 100644
--- a/src/BulletDynamics/Dynamics/btDynamicsWorld.h
+++ b/src/BulletDynamics/Dynamics/btDynamicsWorld.h
@@ -86,6 +86,8 @@ public:
 
 		virtual void	addRigidBody(btRigidBody* body) = 0;
 
+		virtual void	addRigidBody(btRigidBody* body, short group, short mask) = 0;
+
 		virtual void	removeRigidBody(btRigidBody* body) = 0;
 
 		virtual void	setConstraintSolver(btConstraintSolver* solver) = 0;
diff --git a/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp b/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
index ae449f292..5fc2f3cf8 100644
--- a/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
+++ b/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
@@ -78,7 +78,7 @@ int		btSimpleDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, b
 		btContactSolverInfo infoGlobal;
 		infoGlobal.m_timeStep = timeStep;
 		m_constraintSolver->prepareSolve(0,numManifolds);
-		m_constraintSolver->solveGroup(0,0,manifoldPtr, numManifolds,0,0,infoGlobal,m_debugDrawer, m_stackAlloc,m_dispatcher1);
+		m_constraintSolver->solveGroup(&getCollisionObjectArray()[0],getNumCollisionObjects(),manifoldPtr, numManifolds,0,0,infoGlobal,m_debugDrawer, m_stackAlloc,m_dispatcher1);
 		m_constraintSolver->allSolved(infoGlobal,m_debugDrawer, m_stackAlloc);
 	}
 
@@ -155,6 +155,33 @@ void	btSimpleDynamicsWorld::addRigidBody(btRigidBody* body)
 	}
 }
 
+void	btSimpleDynamicsWorld::addRigidBody(btRigidBody* body, short group, short mask)
+{
+	body->setGravity(m_gravity);
+
+	if (body->getCollisionShape())
+	{
+		addCollisionObject(body,group,mask);
+	}
+}
+
+
+void	btSimpleDynamicsWorld::debugDrawWorld()
+{
+
+}
+				
+void	btSimpleDynamicsWorld::addAction(btActionInterface* action)
+{
+
+}
+
+void	btSimpleDynamicsWorld::removeAction(btActionInterface* action)
+{
+
+}
+
+
 void	btSimpleDynamicsWorld::updateAabbs()
 {
 	btTransform predictedTrans;
diff --git a/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h b/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h
index ad1f54134..07a727e2e 100644
--- a/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h
+++ b/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h
@@ -56,8 +56,16 @@ public:
 
 	virtual void	addRigidBody(btRigidBody* body);
 
+	virtual void	addRigidBody(btRigidBody* body, short group, short mask);
+
 	virtual void	removeRigidBody(btRigidBody* body);
 
+	virtual void	debugDrawWorld();
+				
+	virtual void	addAction(btActionInterface* action);
+
+	virtual void	removeAction(btActionInterface* action);
+
 	///removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btCollisionWorld::removeCollisionObject
 	virtual void	removeCollisionObject(btCollisionObject* collisionObject);