diff --git a/VERSION b/VERSION
index 98999227e..5ba9c5b50 100644
--- a/VERSION
+++ b/VERSION
@@ -1,3 +1,3 @@
-Bullet Collision Detection and Physics Library version 2.56
+Bullet Collision Detection and Physics Library version 2.57
 http://bullet.sourceforge.net
 
diff --git a/configure b/configure
index 26ff649b5..707d6934f 100755
--- a/configure
+++ b/configure
@@ -1,6 +1,6 @@
 #! /bin/sh
 # Guess values for system-dependent variables and create Makefiles.
-# Generated by GNU Autoconf 2.59 for bullet 2.56.
+# Generated by GNU Autoconf 2.59 for bullet 2.57.
 #
 # Report bugs to <bullet@erwincoumans.com>.
 #
@@ -271,8 +271,8 @@ SHELL=${CONFIG_SHELL-/bin/sh}
 # Identity of this package.
 PACKAGE_NAME='bullet'
 PACKAGE_TARNAME='bullet'
-PACKAGE_VERSION='2.56'
-PACKAGE_STRING='bullet 2.56'
+PACKAGE_VERSION='2.57'
+PACKAGE_STRING='bullet 2.57'
 PACKAGE_BUGREPORT='bullet@erwincoumans.com'
 
 ac_unique_file="mk/jam/build.jam"
@@ -790,7 +790,7 @@ if test "$ac_init_help" = "long"; then
   # Omit some internal or obsolete options to make the list less imposing.
   # This message is too long to be a string in the A/UX 3.1 sh.
   cat <<_ACEOF
-\`configure' configures bullet 2.56 to adapt to many kinds of systems.
+\`configure' configures bullet 2.57 to adapt to many kinds of systems.
 
 Usage: $0 [OPTION]... [VAR=VALUE]...
 
@@ -855,7 +855,7 @@ fi
 
 if test -n "$ac_init_help"; then
   case $ac_init_help in
-     short | recursive ) echo "Configuration of bullet 2.56:";;
+     short | recursive ) echo "Configuration of bullet 2.57:";;
    esac
   cat <<\_ACEOF
 
@@ -980,7 +980,7 @@ fi
 test -n "$ac_init_help" && exit 0
 if $ac_init_version; then
   cat <<\_ACEOF
-bullet configure 2.56
+bullet configure 2.57
 generated by GNU Autoconf 2.59
 
 Copyright (C) 2003 Free Software Foundation, Inc.
@@ -994,7 +994,7 @@ cat >&5 <<_ACEOF
 This file contains any messages produced by compilers while
 running configure, to aid debugging if configure makes a mistake.
 
-It was created by bullet $as_me 2.56, which was
+It was created by bullet $as_me 2.57, which was
 generated by GNU Autoconf 2.59.  Invocation command line was
 
   $ $0 $@
@@ -9898,7 +9898,7 @@ cs_jamconfig_text="${cs_jamconfig_text}PACKAGE_NAME ?= \"$PACKAGE_NAME\" ;
 "
     cs_jamconfig_text="${cs_jamconfig_text}PACKAGE_COPYRIGHT ?= \"$PACKAGE_COPYRIGHT\" ;
 "
-    for cs_veritem in 2 56; do
+    for cs_veritem in 2 57; do
 	cs_jamconfig_text="${cs_jamconfig_text}PACKAGE_VERSION_LIST += \"$cs_veritem\" ;
 "
     done
@@ -10275,7 +10275,7 @@ _ASBOX
 } >&5
 cat >&5 <<_CSEOF
 
-This file was extended by bullet $as_me 2.56, which was
+This file was extended by bullet $as_me 2.57, which was
 generated by GNU Autoconf 2.59.  Invocation command line was
 
   CONFIG_FILES    = $CONFIG_FILES
@@ -10338,7 +10338,7 @@ _ACEOF
 
 cat >>$CONFIG_STATUS <<_ACEOF
 ac_cs_version="\\
-bullet config.status 2.56
+bullet config.status 2.57
 configured by $0, generated by GNU Autoconf 2.59,
   with options \\"`echo "$ac_configure_args" | sed 's/[\\""\`\$]/\\\\&/g'`\\"
 
diff --git a/configure.ac b/configure.ac
index dec2497cf..a8272ab85 100644
--- a/configure.ac
+++ b/configure.ac
@@ -9,7 +9,7 @@ AC_PREREQ([2.54])
 #----------------------------------------------------------------------------
 AC_INIT(
     [bullet],
-    [2.56],
+    [2.57],
     [bullet@erwincoumans.com])
 CS_PACKAGEINFO(
     [Bullet Continuous Collision Detection and Physics Library],
diff --git a/src/LinearMath/btPoolAllocator.h b/src/LinearMath/btPoolAllocator.h
new file mode 100755
index 000000000..ecb1a48a0
--- /dev/null
+++ b/src/LinearMath/btPoolAllocator.h
@@ -0,0 +1,72 @@
+/*
+Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+#ifndef _BT_POOL_ALLOCATOR_H
+#define _BT_POOL_ALLOCATOR_H
+
+#include "btScalar.h"
+
+class btPoolAllocator
+{
+	int				m_elemSize;
+	int				m_maxElements;
+	int				m_freeCount;
+	void*			m_firstFree;
+	unsigned char*	m_pool;
+
+public:
+
+	btPoolAllocator(int elemSize, int maxElements)
+		:m_elemSize(elemSize),
+		m_maxElements(maxElements)
+	{
+		m_pool = new unsigned char[m_elemSize*m_maxElements];
+
+		unsigned char* p = m_pool;
+        m_firstFree = p;
+        m_freeCount = m_maxElements;
+        int count = m_maxElements;
+        while (--count) {
+            *(void**)p = (p + m_elemSize);
+            p += m_elemSize;
+        }
+        *(void**)p = 0;
+    }
+
+	void*	allocate(int size)
+	{
+		btAssert(!size || size<=m_elemSize);
+		btAssert(m_freeCount>0);
+        void* result = m_firstFree;
+        m_firstFree = *(void**)m_firstFree;
+        --m_freeCount;
+        return result;
+	}
+
+	void	free(void* ptr)
+	{
+		 if (ptr) {
+            btAssert((unsigned char*)ptr >= m_pool && (unsigned char*)ptr < m_pool + m_maxElements * m_elemSize);
+
+            *(void**)ptr = m_firstFree;
+            m_firstFree = ptr;
+            ++m_freeCount;
+        }
+	}
+
+
+};
+
+#endif //_BT_POOL_ALLOCATOR_H