diff --git a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
index 74f2a35cd..4c1f2278a 100644
--- a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
+++ b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
@@ -1199,4 +1199,10 @@ void	btSequentialImpulseConstraintSolver::reset()
 	m_btSeed2 = 0;
 }
 
+btRigidBody& btSequentialImpulseConstraintSolver::getFixedBody()
+{
+	static btRigidBody s_fixed(0, 0,0);
+	s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
+	return s_fixed;
+}
 
diff --git a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
index a26fbad78..f268ec9ae 100644
--- a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
+++ b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
@@ -81,12 +81,8 @@ protected:
 	void	resolveSingleConstraintRowLowerLimitSIMD(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& contactConstraint);
 		
 protected:
-	static btRigidBody& getFixedBody()
-	{
-		static btRigidBody s_fixed(0, 0,0);
-		s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
-		return s_fixed;
-	}	
+	static btRigidBody& getFixedBody();
+	
 	virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
 	virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
 	btScalar solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
diff --git a/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp b/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp
index e7c94b193..ce43b5369 100644
--- a/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp
+++ b/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp
@@ -133,4 +133,10 @@ const char*	btTypedConstraint::serialize(void* dataBuffer, btSerializer* seriali
 	return "btTypedConstraintData";
 }
 
+btRigidBody& btTypedConstraint::getFixedBody()
+{
+	static btRigidBody s_fixed(0, 0,0);
+	s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
+	return s_fixed;
+}
 
diff --git a/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h b/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h
index 4ed251952..cad780f33 100644
--- a/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h
+++ b/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h
@@ -78,13 +78,7 @@ protected:
 	///internal method used by the constraint solver, don't use them directly
 	btScalar getMotorFactor(btScalar pos, btScalar lowLim, btScalar uppLim, btScalar vel, btScalar timeFact);
 	
-	static btRigidBody& getFixedBody()
-	{
-		static btRigidBody s_fixed(0, 0,0);
-		s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
-		return s_fixed;
-	}	
-
+	static btRigidBody& getFixedBody();
 
 public:
 
diff --git a/src/BulletDynamics/Dynamics/btActionInterface.h b/src/BulletDynamics/Dynamics/btActionInterface.h
index 40a07c6ea..e1fea3a49 100644
--- a/src/BulletDynamics/Dynamics/btActionInterface.h
+++ b/src/BulletDynamics/Dynamics/btActionInterface.h
@@ -27,12 +27,8 @@ class btActionInterface
 {
 protected:
 
-	static btRigidBody& getFixedBody()
-	{
-		static btRigidBody s_fixed(0, 0,0);
-		s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
-		return s_fixed;
-	}	
+	static btRigidBody& getFixedBody();
+	
 	
 public:
 
diff --git a/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp b/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
index b42c024f1..c7419cc4d 100644
--- a/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
+++ b/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
@@ -22,7 +22,12 @@
 #include "LinearMath/btIDebugDraw.h"
 #include "BulletDynamics/ConstraintSolver/btContactConstraint.h"
 
-
+btRigidBody& btActionInterface::getFixedBody()
+{
+	static btRigidBody s_fixed(0, 0,0);
+	s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
+	return s_fixed;
+}
 
 btRaycastVehicle::btRaycastVehicle(const btVehicleTuning& tuning,btRigidBody* chassis,	btVehicleRaycaster* raycaster )
 :m_vehicleRaycaster(raycaster),
diff --git a/src/LinearMath/btTransformUtil.h b/src/LinearMath/btTransformUtil.h
index dd9057546..626110ce4 100644
--- a/src/LinearMath/btTransformUtil.h
+++ b/src/LinearMath/btTransformUtil.h
@@ -186,7 +186,7 @@ public:
 			btTransformUtil::calculateVelocityQuaternion(m_posB,toPosB,m_ornB,toOrnB,btScalar(1.),linVelB,angVelB);
 			btScalar maxAngularProjectedVelocity = angVelA.length() * m_boundingRadiusA + angVelB.length() * m_boundingRadiusB;
 			btVector3 relLinVel = (linVelB-linVelA);
-			btScalar relLinVelocLength = (linVelB-linVelA).dot(m_separatingNormal);
+			btScalar relLinVelocLength = relLinVel.dot(m_separatingNormal);
 			if (relLinVelocLength<0.f)
 			{
 				relLinVelocLength = 0.f;