diff --git a/Demos3/GpuDemos/premake4.lua b/Demos3/GpuDemos/premake4.lua
index 5d3076077..406ed119a 100644
--- a/Demos3/GpuDemos/premake4.lua
+++ b/Demos3/GpuDemos/premake4.lua
@@ -56,6 +56,8 @@ function createProject(vendor)
 			"../../btgui/OpenGLWindow/LoadShader.h",
 			"../../btgui/OpenGLWindow/TwFonts.cpp",
 			"../../btgui/OpenGLWindow/TwFonts.h",
+			"../../btgui/OpenGLWindow/GLRenderToTexture.cpp",
+			"../../btgui/OpenGLWindow/GLRenderToTexture.h",
 			"../../btgui/OpenGLTrueTypeFont/fontstash.cpp",
 			"../../btgui/OpenGLTrueTypeFont/fontstash.h",
 			"../../btgui/OpenGLTrueTypeFont/opengl_fontstashcallbacks.cpp",
diff --git a/btgui/OpenGLTrueTypeFont/main.cpp b/btgui/OpenGLTrueTypeFont/main.cpp
index 84a8a369f..1dca192ae 100644
--- a/btgui/OpenGLTrueTypeFont/main.cpp
+++ b/btgui/OpenGLTrueTypeFont/main.cpp
@@ -32,7 +32,7 @@ subject to the following restrictions:
 #include "opengl_fontstashcallbacks.h"
 
 
-#include "Bullet3Common/b3Quickprof.h"
+//#include "Bullet3Common/b3Quickprof.h"
 #include "Bullet3Common/b3Quaternion.h"
 #include "Bullet3Common/b3CommandLineArgs.h"
 #include "../OpenGLWindow/LoadShader.h"
@@ -471,7 +471,6 @@ int main(int argc, char* argv[])
 
 	while (!window->requestedExit())
 	{
-		b3ProfileManager::Reset();
         GLint err = glGetError();
         b3Assert(err==GL_NO_ERROR);
         
@@ -633,11 +632,9 @@ int main(int argc, char* argv[])
         b3Assert(err==GL_NO_ERROR);
         
 		{
-			B3_PROFILE("glFinish");
 			glFinish();
 		}
 
-		b3ProfileManager::Increment_Frame_Counter();
 
 		static bool printStats  = true;
 
diff --git a/btgui/OpenGLTrueTypeFont/premake4.lua b/btgui/OpenGLTrueTypeFont/premake4.lua
index c941569c4..76dc31007 100644
--- a/btgui/OpenGLTrueTypeFont/premake4.lua
+++ b/btgui/OpenGLTrueTypeFont/premake4.lua
@@ -24,6 +24,7 @@
 			"../OpenGLWindow/LoadShader.cpp",
 			"../OpenGLWindow/LoadShader.h",
 			"../../src/Bullet3Common/b3AlignedAllocator.cpp",
+			"../../src/Bullet3Common/b3Logging.cpp",
 			"../Timing/b3Quickprof.cpp",
 			"../Timing/b3Quickprof.h" ,
 			"../Timing/b3Clock.cpp",
diff --git a/btgui/OpenGLWindow/GLRenderToTexture.cpp b/btgui/OpenGLWindow/GLRenderToTexture.cpp
new file mode 100644
index 000000000..f7c2652af
--- /dev/null
+++ b/btgui/OpenGLWindow/GLRenderToTexture.cpp
@@ -0,0 +1,78 @@
+
+///See http://www.opengl-tutorial.org/intermediate-tutorials/tutorial-14-render-to-texture/
+
+#include "GLRenderToTexture.h"
+
+GLRenderToTexture::GLRenderToTexture()
+:m_framebufferName(0)
+{
+}
+	
+void GLRenderToTexture::init(int width, int height)
+{
+	glGenFramebuffers(1, &m_framebufferName);
+	glBindFramebuffer(GL_FRAMEBUFFER, m_framebufferName);
+	
+	GLuint m_renderedTexture;
+	glGenTextures(1, &m_renderedTexture);
+
+	// "Bind" the newly created texture : all future texture functions will modify this texture
+	glBindTexture(GL_TEXTURE_2D, m_renderedTexture);
+
+	// Give an empty image to OpenGL ( the last "0" )
+	glTexImage2D(GL_TEXTURE_2D, 0,GL_RGB, width, height, 0,GL_RGB, GL_UNSIGNED_BYTE, 0);
+
+	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
+	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
+
+
+	// The depth buffer
+	glGenRenderbuffers(1, &m_depthrenderbuffer);
+	glBindRenderbuffer(GL_RENDERBUFFER, m_depthrenderbuffer);
+	glRenderbufferStorage(GL_RENDERBUFFER, GL_DEPTH_COMPONENT, width, height);
+	glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_DEPTH_ATTACHMENT, GL_RENDERBUFFER, m_depthrenderbuffer);
+
+	glFramebufferTexture(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, m_renderedTexture, 0);
+
+}
+
+bool GLRenderToTexture::enable()
+{
+	bool status = false;
+
+		// Set the list of draw buffers.
+	GLenum drawBuffers[2] = {GL_COLOR_ATTACHMENT0,0};
+	glDrawBuffers(1, drawBuffers);
+
+	// Always check that our framebuffer is ok
+	if(glCheckFramebufferStatus(GL_FRAMEBUFFER) == GL_FRAMEBUFFER_COMPLETE)
+	{
+		status = true;
+	}
+
+	return status;
+
+}
+
+void GLRenderToTexture::disable()
+{
+	glBindFramebuffer( GL_FRAMEBUFFER, 0 );
+	glBindTexture(GL_TEXTURE_2D, 0);
+}
+	
+GLRenderToTexture::~GLRenderToTexture()
+{
+	glBindFramebuffer( GL_FRAMEBUFFER, 0 );
+
+	if (m_depthrenderbuffer)
+		glDeleteRenderbuffers(1,&m_depthrenderbuffer);
+
+	if(m_renderedTexture) 
+		glDeleteTextures(1, &m_renderedTexture);
+
+	if( m_framebufferName)
+	{ 
+		glDeleteFramebuffers(1, &m_framebufferName);
+	}
+}
+
diff --git a/btgui/OpenGLWindow/GLRenderToTexture.h b/btgui/OpenGLWindow/GLRenderToTexture.h
new file mode 100644
index 000000000..adc31a5f7
--- /dev/null
+++ b/btgui/OpenGLWindow/GLRenderToTexture.h
@@ -0,0 +1,28 @@
+
+#ifndef GL_RENDER_TO_TEXTURE_H
+#define GL_RENDER_TO_TEXTURE_H
+
+///See http://www.opengl-tutorial.org/intermediate-tutorials/tutorial-14-render-to-texture/
+#include "OpenGLInclude.h"
+
+struct GLRenderToTexture
+{
+	GLuint m_framebufferName;
+	GLuint	m_renderedTexture;
+	GLuint	m_depthrenderbuffer;
+	bool	m_initialized;
+public:
+		
+	GLRenderToTexture();
+	
+	void init(int width, int height);
+	bool	enable();
+	void	disable();
+	
+	virtual ~GLRenderToTexture();
+	
+};
+
+
+#endif //GL_RENDER_TO_TEXTURE_H
+
diff --git a/build3/premake4.lua b/build3/premake4.lua
index 2fa0b8666..73a9d628a 100644
--- a/build3/premake4.lua
+++ b/build3/premake4.lua
@@ -130,7 +130,7 @@
 --		include "../demo/gpu_initialize"
 --		include "../opencl/lds_bank_conflict"
 --		include "../opencl/reduce"
---		include "../btgui/OpenGLTrueTypeFont"
+			include "../btgui/OpenGLTrueTypeFont"
 --		include "../btgui/OpenGLWindow"
 --		include "../demo/ObjLoader"
 
diff --git a/src/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.h b/src/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.h
index dffd76e5d..1c95d52c0 100644
--- a/src/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.h
+++ b/src/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.h
@@ -137,19 +137,19 @@ public:
     b3Vector3 m_accumulatedImpulse;
     //! Linear_Limit_parameters
     //!@{
-    b3Scalar	m_limitSoftness;//!< Softness for linear limit
-    b3Scalar	m_damping;//!< Damping for linear limit
-    b3Scalar	m_restitution;//! Bounce parameter for linear limit
 	b3Vector3	m_normalCFM;//!< Constraint force mixing factor
     b3Vector3	m_stopERP;//!< Error tolerance factor when joint is at limit
 	b3Vector3	m_stopCFM;//!< Constraint force mixing factor when joint is at limit
-    //!@}
-	bool		m_enableMotor[3];
     b3Vector3	m_targetVelocity;//!< target motor velocity
     b3Vector3	m_maxMotorForce;//!< max force on motor
     b3Vector3	m_currentLimitError;//!  How much is violated this limit
     b3Vector3	m_currentLinearDiff;//!  Current relative offset of constraint frames
-    int			m_currentLimit[3];//!< 0=free, 1=at lower limit, 2=at upper limit
+	b3Scalar	m_limitSoftness;//!< Softness for linear limit
+    b3Scalar	m_damping;//!< Damping for linear limit
+    b3Scalar	m_restitution;//! Bounce parameter for linear limit
+	//!@}
+	bool		m_enableMotor[3];
+	int			m_currentLimit[3];//!< 0=free, 1=at lower limit, 2=at upper limit
 
     b3TranslationalLimitMotor()
     {
@@ -280,8 +280,8 @@ protected:
 
     //! Jacobians
     //!@{
-    b3JacobianEntry	m_jacLinear[3];//!< 3 orthogonal linear constraints
-    b3JacobianEntry	m_jacAng[3];//!< 3 orthogonal angular constraints
+//    b3JacobianEntry	m_jacLinear[3];//!< 3 orthogonal linear constraints
+//    b3JacobianEntry	m_jacAng[3];//!< 3 orthogonal angular constraints
     //!@}
 
 	//! Linear_Limit_parameters