diff --git a/Extras/MayaPlugin/BulletMayaPlugin.sln b/Extras/MayaPlugin/BulletMayaPlugin.sln
index 54ba32558..1fcfc9752 100644
--- a/Extras/MayaPlugin/BulletMayaPlugin.sln
+++ b/Extras/MayaPlugin/BulletMayaPlugin.sln
@@ -8,7 +8,6 @@ Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "BulletMayaPlugin", "BulletM
 		{A0958CD9-0E39-4A77-3711-9B488F508FBF} = {A0958CD9-0E39-4A77-3711-9B488F508FBF}
 		{6AB01C9C-9163-F400-B5C3-20D046631E17} = {6AB01C9C-9163-F400-B5C3-20D046631E17}
 		{ED51AA4D-82EF-089C-CD6D-91CF224E2A9E} = {ED51AA4D-82EF-089C-CD6D-91CF224E2A9E}
-		{F8318FC6-B9C4-D5A1-DCC0-C9CE42ADAE22} = {F8318FC6-B9C4-D5A1-DCC0-C9CE42ADAE22}
 		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
 	EndProjectSection
 EndProject
@@ -18,8 +17,6 @@ Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "libbulletdynamics", "..\..\
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "libbulletmath", "..\..\msvc\8\libbulletmath.vcproj", "{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}"
 EndProject
-Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "libGIMPACT", "..\..\msvc\8\libGIMPACT.vcproj", "{F8318FC6-B9C4-D5A1-DCC0-C9CE42ADAE22}"
-EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "libGIMPACTUtils", "..\..\msvc\8\libGIMPACTUtils.vcproj", "{B1B5F775-54A9-2437-E4AC-7E817E492142}"
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "libBulletColladaConverter", "..\..\msvc\8\libBulletColladaConverter.vcproj", "{ED51AA4D-82EF-089C-CD6D-91CF224E2A9E}"
@@ -38,38 +35,34 @@ Global
 		{681412B0-F197-4A2F-9263-DEA2E8690146}.DebugDll|Win32.Build.0 = DebugDll|Win32
 		{681412B0-F197-4A2F-9263-DEA2E8690146}.ReleaseDll|Win32.ActiveCfg = ReleaseDll|Win32
 		{681412B0-F197-4A2F-9263-DEA2E8690146}.ReleaseDll|Win32.Build.0 = ReleaseDll|Win32
-		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.DebugDll|Win32.ActiveCfg = DebugDLL|Win32
-		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.DebugDll|Win32.Build.0 = DebugDLL|Win32
-		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.ReleaseDll|Win32.ActiveCfg = ReleaseDLL|Win32
-		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.ReleaseDll|Win32.Build.0 = ReleaseDLL|Win32
-		{61BD1097-CF2E-B296-DAA9-73A6FE135319}.DebugDll|Win32.ActiveCfg = DebugDLL|Win32
-		{61BD1097-CF2E-B296-DAA9-73A6FE135319}.DebugDll|Win32.Build.0 = DebugDLL|Win32
-		{61BD1097-CF2E-B296-DAA9-73A6FE135319}.ReleaseDll|Win32.ActiveCfg = ReleaseDLL|Win32
-		{61BD1097-CF2E-B296-DAA9-73A6FE135319}.ReleaseDll|Win32.Build.0 = ReleaseDLL|Win32
-		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.DebugDll|Win32.ActiveCfg = DebugDLL|Win32
-		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.DebugDll|Win32.Build.0 = DebugDLL|Win32
-		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.ReleaseDll|Win32.ActiveCfg = ReleaseDLL|Win32
-		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.ReleaseDll|Win32.Build.0 = ReleaseDLL|Win32
-		{F8318FC6-B9C4-D5A1-DCC0-C9CE42ADAE22}.DebugDll|Win32.ActiveCfg = DebugDLL|Win32
-		{F8318FC6-B9C4-D5A1-DCC0-C9CE42ADAE22}.DebugDll|Win32.Build.0 = DebugDLL|Win32
-		{F8318FC6-B9C4-D5A1-DCC0-C9CE42ADAE22}.ReleaseDll|Win32.ActiveCfg = ReleaseDLL|Win32
-		{F8318FC6-B9C4-D5A1-DCC0-C9CE42ADAE22}.ReleaseDll|Win32.Build.0 = ReleaseDLL|Win32
-		{B1B5F775-54A9-2437-E4AC-7E817E492142}.DebugDll|Win32.ActiveCfg = DebugDLL|Win32
-		{B1B5F775-54A9-2437-E4AC-7E817E492142}.DebugDll|Win32.Build.0 = DebugDLL|Win32
-		{B1B5F775-54A9-2437-E4AC-7E817E492142}.ReleaseDll|Win32.ActiveCfg = ReleaseDLL|Win32
-		{B1B5F775-54A9-2437-E4AC-7E817E492142}.ReleaseDll|Win32.Build.0 = ReleaseDLL|Win32
-		{ED51AA4D-82EF-089C-CD6D-91CF224E2A9E}.DebugDll|Win32.ActiveCfg = DebugDLL|Win32
-		{ED51AA4D-82EF-089C-CD6D-91CF224E2A9E}.DebugDll|Win32.Build.0 = DebugDLL|Win32
-		{ED51AA4D-82EF-089C-CD6D-91CF224E2A9E}.ReleaseDll|Win32.ActiveCfg = ReleaseDLL|Win32
-		{ED51AA4D-82EF-089C-CD6D-91CF224E2A9E}.ReleaseDll|Win32.Build.0 = ReleaseDLL|Win32
-		{6AB01C9C-9163-F400-B5C3-20D046631E17}.DebugDll|Win32.ActiveCfg = DebugDLL|Win32
-		{6AB01C9C-9163-F400-B5C3-20D046631E17}.DebugDll|Win32.Build.0 = DebugDLL|Win32
-		{6AB01C9C-9163-F400-B5C3-20D046631E17}.ReleaseDll|Win32.ActiveCfg = ReleaseDLL|Win32
-		{6AB01C9C-9163-F400-B5C3-20D046631E17}.ReleaseDll|Win32.Build.0 = ReleaseDLL|Win32
-		{A0958CD9-0E39-4A77-3711-9B488F508FBF}.DebugDll|Win32.ActiveCfg = DebugDLL|Win32
-		{A0958CD9-0E39-4A77-3711-9B488F508FBF}.DebugDll|Win32.Build.0 = DebugDLL|Win32
-		{A0958CD9-0E39-4A77-3711-9B488F508FBF}.ReleaseDll|Win32.ActiveCfg = ReleaseDLL|Win32
-		{A0958CD9-0E39-4A77-3711-9B488F508FBF}.ReleaseDll|Win32.Build.0 = ReleaseDLL|Win32
+		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.DebugDll|Win32.ActiveCfg = DebugDll|Win32
+		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.DebugDll|Win32.Build.0 = DebugDll|Win32
+		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.ReleaseDll|Win32.ActiveCfg = ReleaseDll|Win32
+		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}.ReleaseDll|Win32.Build.0 = ReleaseDll|Win32
+		{61BD1097-CF2E-B296-DAA9-73A6FE135319}.DebugDll|Win32.ActiveCfg = DebugDll|Win32
+		{61BD1097-CF2E-B296-DAA9-73A6FE135319}.DebugDll|Win32.Build.0 = DebugDll|Win32
+		{61BD1097-CF2E-B296-DAA9-73A6FE135319}.ReleaseDll|Win32.ActiveCfg = ReleaseDll|Win32
+		{61BD1097-CF2E-B296-DAA9-73A6FE135319}.ReleaseDll|Win32.Build.0 = ReleaseDll|Win32
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.DebugDll|Win32.ActiveCfg = DebugDll|Win32
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.DebugDll|Win32.Build.0 = DebugDll|Win32
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.ReleaseDll|Win32.ActiveCfg = ReleaseDll|Win32
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}.ReleaseDll|Win32.Build.0 = ReleaseDll|Win32
+		{B1B5F775-54A9-2437-E4AC-7E817E492142}.DebugDll|Win32.ActiveCfg = DebugDll|Win32
+		{B1B5F775-54A9-2437-E4AC-7E817E492142}.DebugDll|Win32.Build.0 = DebugDll|Win32
+		{B1B5F775-54A9-2437-E4AC-7E817E492142}.ReleaseDll|Win32.ActiveCfg = ReleaseDll|Win32
+		{B1B5F775-54A9-2437-E4AC-7E817E492142}.ReleaseDll|Win32.Build.0 = ReleaseDll|Win32
+		{ED51AA4D-82EF-089C-CD6D-91CF224E2A9E}.DebugDll|Win32.ActiveCfg = DebugDll|Win32
+		{ED51AA4D-82EF-089C-CD6D-91CF224E2A9E}.DebugDll|Win32.Build.0 = DebugDll|Win32
+		{ED51AA4D-82EF-089C-CD6D-91CF224E2A9E}.ReleaseDll|Win32.ActiveCfg = ReleaseDll|Win32
+		{ED51AA4D-82EF-089C-CD6D-91CF224E2A9E}.ReleaseDll|Win32.Build.0 = ReleaseDll|Win32
+		{6AB01C9C-9163-F400-B5C3-20D046631E17}.DebugDll|Win32.ActiveCfg = DebugDll|Win32
+		{6AB01C9C-9163-F400-B5C3-20D046631E17}.DebugDll|Win32.Build.0 = DebugDll|Win32
+		{6AB01C9C-9163-F400-B5C3-20D046631E17}.ReleaseDll|Win32.ActiveCfg = ReleaseDll|Win32
+		{6AB01C9C-9163-F400-B5C3-20D046631E17}.ReleaseDll|Win32.Build.0 = ReleaseDll|Win32
+		{A0958CD9-0E39-4A77-3711-9B488F508FBF}.DebugDll|Win32.ActiveCfg = DebugDll|Win32
+		{A0958CD9-0E39-4A77-3711-9B488F508FBF}.DebugDll|Win32.Build.0 = DebugDll|Win32
+		{A0958CD9-0E39-4A77-3711-9B488F508FBF}.ReleaseDll|Win32.ActiveCfg = ReleaseDll|Win32
+		{A0958CD9-0E39-4A77-3711-9B488F508FBF}.ReleaseDll|Win32.Build.0 = ReleaseDll|Win32
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE
diff --git a/Extras/MayaPlugin/BulletMayaPlugin.vcproj b/Extras/MayaPlugin/BulletMayaPlugin.vcproj
index 5ca3c361a..7de94ba9e 100644
--- a/Extras/MayaPlugin/BulletMayaPlugin.vcproj
+++ b/Extras/MayaPlugin/BulletMayaPlugin.vcproj
@@ -112,65 +112,6 @@
 				Name="VCPostBuildEventTool"
 			/>
 		</Configuration>
-		<Configuration
-			Name="DebugDll|x64"
-			ConfigurationType="1"
-			>
-			<Tool
-				Name="VCPreBuildEventTool"
-			/>
-			<Tool
-				Name="VCCustomBuildTool"
-			/>
-			<Tool
-				Name="VCXMLDataGeneratorTool"
-			/>
-			<Tool
-				Name="VCWebServiceProxyGeneratorTool"
-			/>
-			<Tool
-				Name="VCMIDLTool"
-			/>
-			<Tool
-				Name="VCCLCompilerTool"
-			/>
-			<Tool
-				Name="VCManagedResourceCompilerTool"
-			/>
-			<Tool
-				Name="VCResourceCompilerTool"
-			/>
-			<Tool
-				Name="VCPreLinkEventTool"
-			/>
-			<Tool
-				Name="VCLinkerTool"
-			/>
-			<Tool
-				Name="VCALinkTool"
-			/>
-			<Tool
-				Name="VCManifestTool"
-			/>
-			<Tool
-				Name="VCXDCMakeTool"
-			/>
-			<Tool
-				Name="VCBscMakeTool"
-			/>
-			<Tool
-				Name="VCFxCopTool"
-			/>
-			<Tool
-				Name="VCAppVerifierTool"
-			/>
-			<Tool
-				Name="VCWebDeploymentTool"
-			/>
-			<Tool
-				Name="VCPostBuildEventTool"
-			/>
-		</Configuration>
 		<Configuration
 			Name="ReleaseDll|Win32"
 			OutputDirectory="$(PlatformName)\$(ConfigurationName)"
@@ -268,7 +209,8 @@
 			/>
 		</Configuration>
 		<Configuration
-			Name="ReleaseDll|x64"
+			Name="ReleaseDebug|Win32"
+			IntermediateDirectory="$(ConfigurationName)"
 			ConfigurationType="1"
 			>
 			<Tool
@@ -327,7 +269,186 @@
 			/>
 		</Configuration>
 		<Configuration
-			Name="ReleaseDebug|Win32"
+			Name="Debug|Win32"
+			IntermediateDirectory="$(ConfigurationName)"
+			ConfigurationType="1"
+			>
+			<Tool
+				Name="VCPreBuildEventTool"
+			/>
+			<Tool
+				Name="VCCustomBuildTool"
+			/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"
+			/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"
+			/>
+			<Tool
+				Name="VCMIDLTool"
+			/>
+			<Tool
+				Name="VCCLCompilerTool"
+			/>
+			<Tool
+				Name="VCManagedResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCPreLinkEventTool"
+			/>
+			<Tool
+				Name="VCLinkerTool"
+			/>
+			<Tool
+				Name="VCALinkTool"
+			/>
+			<Tool
+				Name="VCManifestTool"
+			/>
+			<Tool
+				Name="VCXDCMakeTool"
+			/>
+			<Tool
+				Name="VCBscMakeTool"
+			/>
+			<Tool
+				Name="VCFxCopTool"
+			/>
+			<Tool
+				Name="VCAppVerifierTool"
+			/>
+			<Tool
+				Name="VCWebDeploymentTool"
+			/>
+			<Tool
+				Name="VCPostBuildEventTool"
+			/>
+		</Configuration>
+		<Configuration
+			Name="Release|Win32"
+			IntermediateDirectory="$(ConfigurationName)"
+			ConfigurationType="1"
+			>
+			<Tool
+				Name="VCPreBuildEventTool"
+			/>
+			<Tool
+				Name="VCCustomBuildTool"
+			/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"
+			/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"
+			/>
+			<Tool
+				Name="VCMIDLTool"
+			/>
+			<Tool
+				Name="VCCLCompilerTool"
+			/>
+			<Tool
+				Name="VCManagedResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCPreLinkEventTool"
+			/>
+			<Tool
+				Name="VCLinkerTool"
+			/>
+			<Tool
+				Name="VCALinkTool"
+			/>
+			<Tool
+				Name="VCManifestTool"
+			/>
+			<Tool
+				Name="VCXDCMakeTool"
+			/>
+			<Tool
+				Name="VCBscMakeTool"
+			/>
+			<Tool
+				Name="VCFxCopTool"
+			/>
+			<Tool
+				Name="VCAppVerifierTool"
+			/>
+			<Tool
+				Name="VCWebDeploymentTool"
+			/>
+			<Tool
+				Name="VCPostBuildEventTool"
+			/>
+		</Configuration>
+		<Configuration
+			Name="DebugDll|x64"
+			ConfigurationType="1"
+			>
+			<Tool
+				Name="VCPreBuildEventTool"
+			/>
+			<Tool
+				Name="VCCustomBuildTool"
+			/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"
+			/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"
+			/>
+			<Tool
+				Name="VCMIDLTool"
+			/>
+			<Tool
+				Name="VCCLCompilerTool"
+			/>
+			<Tool
+				Name="VCManagedResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCPreLinkEventTool"
+			/>
+			<Tool
+				Name="VCLinkerTool"
+			/>
+			<Tool
+				Name="VCALinkTool"
+			/>
+			<Tool
+				Name="VCManifestTool"
+			/>
+			<Tool
+				Name="VCXDCMakeTool"
+			/>
+			<Tool
+				Name="VCBscMakeTool"
+			/>
+			<Tool
+				Name="VCFxCopTool"
+			/>
+			<Tool
+				Name="VCAppVerifierTool"
+			/>
+			<Tool
+				Name="VCWebDeploymentTool"
+			/>
+			<Tool
+				Name="VCPostBuildEventTool"
+			/>
+		</Configuration>
+		<Configuration
+			Name="ReleaseDll|x64"
 			ConfigurationType="1"
 			>
 			<Tool
@@ -445,65 +566,6 @@
 				Name="VCPostBuildEventTool"
 			/>
 		</Configuration>
-		<Configuration
-			Name="Debug|Win32"
-			ConfigurationType="1"
-			>
-			<Tool
-				Name="VCPreBuildEventTool"
-			/>
-			<Tool
-				Name="VCCustomBuildTool"
-			/>
-			<Tool
-				Name="VCXMLDataGeneratorTool"
-			/>
-			<Tool
-				Name="VCWebServiceProxyGeneratorTool"
-			/>
-			<Tool
-				Name="VCMIDLTool"
-			/>
-			<Tool
-				Name="VCCLCompilerTool"
-			/>
-			<Tool
-				Name="VCManagedResourceCompilerTool"
-			/>
-			<Tool
-				Name="VCResourceCompilerTool"
-			/>
-			<Tool
-				Name="VCPreLinkEventTool"
-			/>
-			<Tool
-				Name="VCLinkerTool"
-			/>
-			<Tool
-				Name="VCALinkTool"
-			/>
-			<Tool
-				Name="VCManifestTool"
-			/>
-			<Tool
-				Name="VCXDCMakeTool"
-			/>
-			<Tool
-				Name="VCBscMakeTool"
-			/>
-			<Tool
-				Name="VCFxCopTool"
-			/>
-			<Tool
-				Name="VCAppVerifierTool"
-			/>
-			<Tool
-				Name="VCWebDeploymentTool"
-			/>
-			<Tool
-				Name="VCPostBuildEventTool"
-			/>
-		</Configuration>
 		<Configuration
 			Name="Debug|x64"
 			IntermediateDirectory="$(PlatformName)\$(ConfigurationName)"
@@ -564,65 +626,6 @@
 				Name="VCPostBuildEventTool"
 			/>
 		</Configuration>
-		<Configuration
-			Name="Release|Win32"
-			ConfigurationType="1"
-			>
-			<Tool
-				Name="VCPreBuildEventTool"
-			/>
-			<Tool
-				Name="VCCustomBuildTool"
-			/>
-			<Tool
-				Name="VCXMLDataGeneratorTool"
-			/>
-			<Tool
-				Name="VCWebServiceProxyGeneratorTool"
-			/>
-			<Tool
-				Name="VCMIDLTool"
-			/>
-			<Tool
-				Name="VCCLCompilerTool"
-			/>
-			<Tool
-				Name="VCManagedResourceCompilerTool"
-			/>
-			<Tool
-				Name="VCResourceCompilerTool"
-			/>
-			<Tool
-				Name="VCPreLinkEventTool"
-			/>
-			<Tool
-				Name="VCLinkerTool"
-			/>
-			<Tool
-				Name="VCALinkTool"
-			/>
-			<Tool
-				Name="VCManifestTool"
-			/>
-			<Tool
-				Name="VCXDCMakeTool"
-			/>
-			<Tool
-				Name="VCBscMakeTool"
-			/>
-			<Tool
-				Name="VCFxCopTool"
-			/>
-			<Tool
-				Name="VCAppVerifierTool"
-			/>
-			<Tool
-				Name="VCWebDeploymentTool"
-			/>
-			<Tool
-				Name="VCPostBuildEventTool"
-			/>
-		</Configuration>
 		<Configuration
 			Name="Release|x64"
 			IntermediateDirectory="$(PlatformName)\$(ConfigurationName)"
@@ -707,6 +710,10 @@
 			RelativePath=".\bt_collision_shape.h"
 			>
 		</File>
+		<File
+			RelativePath=".\bt_constraint.h"
+			>
+		</File>
 		<File
 			RelativePath=".\bt_convex_hull_shape.h"
 			>
@@ -715,6 +722,10 @@
 			RelativePath=".\bt_mesh_shape.h"
 			>
 		</File>
+		<File
+			RelativePath=".\bt_nail_constraint.h"
+			>
+		</File>
 		<File
 			RelativePath=".\bt_plane_shape.h"
 			>
@@ -759,6 +770,14 @@
 			RelativePath=".\collisionShapeNode.h"
 			>
 		</File>
+		<File
+			RelativePath=".\constraint.h"
+			>
+		</File>
+		<File
+			RelativePath=".\constraint_impl.h"
+			>
+		</File>
 		<File
 			RelativePath=".\convex_hull_shape.h"
 			>
@@ -767,6 +786,14 @@
 			RelativePath=".\convex_hull_shape_impl.h"
 			>
 		</File>
+		<File
+			RelativePath=".\dNailConstraintCmd.cpp"
+			>
+		</File>
+		<File
+			RelativePath=".\dNailConstraintCmd.h"
+			>
+		</File>
 		<File
 			RelativePath=".\drawUtils.cpp"
 			>
@@ -823,6 +850,22 @@
 			RelativePath=".\mesh_shape_impl.h"
 			>
 		</File>
+		<File
+			RelativePath=".\nail_constraint.h"
+			>
+		</File>
+		<File
+			RelativePath=".\nail_constraint_impl.h"
+			>
+		</File>
+		<File
+			RelativePath=".\nailConstraintNode.cpp"
+			>
+		</File>
+		<File
+			RelativePath=".\nailConstraintNode.h"
+			>
+		</File>
 		<File
 			RelativePath=".\pdbIO.cpp"
 			>
@@ -867,6 +910,10 @@
 			RelativePath=".\rigidBodyNode.h"
 			>
 		</File>
+		<File
+			RelativePath=".\shared_ptr.h"
+			>
+		</File>
 		<File
 			RelativePath=".\solver.cpp"
 			>