diff --git a/setup.py b/setup.py
index f4f143edf..cb1fa79c2 100644
--- a/setup.py
+++ b/setup.py
@@ -450,7 +450,7 @@ print("-----")
 
 setup(
 	name = 'pybullet',
-	version='1.9.9',
+	version='2.0.0',
 	description='Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning',
 	long_description='pybullet is an easy to use Python module for physics simulation, robotics and deep reinforcement learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.',
 	url='https://github.com/bulletphysics/bullet3',
diff --git a/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp b/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
index 572ec36f5..2fca19292 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
+++ b/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
@@ -21,46 +21,64 @@ subject to the following restrictions:
 
 #include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
 
-bool btGjkEpaPenetrationDepthSolver::calcPenDepth( btSimplexSolverInterface& simplexSolver,
-											  const btConvexShape* pConvexA, const btConvexShape* pConvexB,
-											  const btTransform& transformA, const btTransform& transformB,
-											  btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB,
-											  class btIDebugDraw* debugDraw)
+bool btGjkEpaPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& simplexSolver,
+	const btConvexShape* pConvexA, const btConvexShape* pConvexB,
+	const btTransform& transformA, const btTransform& transformB,
+	btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB,
+	class btIDebugDraw* debugDraw)
 {
 
 	(void)debugDraw;
 	(void)v;
 	(void)simplexSolver;
 
-//	const btScalar				radialmargin(btScalar(0.));
-	
-	btVector3	guessVector(transformB.getOrigin()-transformA.getOrigin());
-	btGjkEpaSolver2::sResults	results;
-	
+	btVector3 guessVectors[] = {
+		btVector3(transformB.getOrigin() - transformA.getOrigin()),
+		btVector3(transformA.getOrigin() - transformB.getOrigin()),
+		btVector3(0, 0, 1),
+		btVector3(0, 1, 0),
+		btVector3(1, 0, 0),
+		btVector3(1, 1, 0),
+		btVector3(1, 1, 1),
+		btVector3(0, 1, 1),
+		btVector3(1, 0, 1),
+	};
 
-	if(btGjkEpaSolver2::Penetration(pConvexA,transformA,
-								pConvexB,transformB,
-								guessVector,results))
-	
-		{
-	//	debugDraw->drawLine(results.witnesses[1],results.witnesses[1]+results.normal,btVector3(255,0,0));
-		//resultOut->addContactPoint(results.normal,results.witnesses[1],-results.depth);
-		wWitnessOnA = results.witnesses[0];
-		wWitnessOnB = results.witnesses[1];
-		v = results.normal;
-		return true;		
-		} else
+	int numVectors = sizeof(guessVectors) / sizeof(btVector3);
+
+	for (int i = 0; i < numVectors; i++)
 	{
-		if(btGjkEpaSolver2::Distance(pConvexA,transformA,pConvexB,transformB,guessVector,results))
+		simplexSolver.reset();
+		btVector3	guessVector = guessVectors[i];
+
+		btGjkEpaSolver2::sResults	results;
+
+		if (btGjkEpaSolver2::Penetration(pConvexA, transformA,
+			pConvexB, transformB,
+			guessVector, results))
+
 		{
 			wWitnessOnA = results.witnesses[0];
 			wWitnessOnB = results.witnesses[1];
 			v = results.normal;
-			return false;
+			return true;
+		}
+		else
+		{
+			if (btGjkEpaSolver2::Distance(pConvexA, transformA, pConvexB, transformB, guessVector, results))
+			{
+				wWitnessOnA = results.witnesses[0];
+				wWitnessOnB = results.witnesses[1];
+				v = results.normal;
+				return false;
+			}
 		}
 	}
 
+	//failed to find a distance/penetration
+	wWitnessOnA.setValue(0, 0, 0);
+	wWitnessOnB.setValue(0, 0, 0);
+	v.setValue(0, 0, 0);
 	return false;
 }
 
-
diff --git a/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp b/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
index 257b026d9..123421307 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
+++ b/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
@@ -35,7 +35,7 @@ subject to the following restrictions:
 	btScalar gGjkEpaPenetrationTolerance = 1e-7;
 #else
 	#define REL_ERROR2 btScalar(1.0e-6)
-	btScalar gGjkEpaPenetrationTolerance = 0.001;
+	btScalar gGjkEpaPenetrationTolerance = BT_LARGE_FLOAT;
 #endif
 
 //temp globals, to improve GJK/EPA/penetration calculations