diff --git a/Demos/EPAPenDepthDemo/PenetrationTestBullet.cpp b/Demos/EPAPenDepthDemo/PenetrationTestBullet.cpp
index 8fab6eecb..0647197a8 100644
--- a/Demos/EPAPenDepthDemo/PenetrationTestBullet.cpp
+++ b/Demos/EPAPenDepthDemo/PenetrationTestBullet.cpp
@@ -477,6 +477,22 @@ static void KeyboardCallback(unsigned char key, int x, int y)
 	case '4':
 		gConvex0.mTransform.setOrigin(gConvex0.mTransform.getOrigin() + btVector3(-gDisp,0,0));
 		break;
+	case '7':
+		gConvex0.mTransform.setRotation(gConvex0.mTransform.getRotation()*btQuaternion(btVector3(1,0,0),0.01));
+		break;
+	case '9':
+		gConvex0.mTransform.setRotation(gConvex0.mTransform.getRotation()*btQuaternion(btVector3(1,0,0),-0.01));
+		break;
+	case '1':
+		gConvex0.mTransform.setRotation(gConvex0.mTransform.getRotation()*btQuaternion(btVector3(0,1,0),0.01));
+		break;
+	case '3':
+		gConvex0.mTransform.setRotation(gConvex0.mTransform.getRotation()*btQuaternion(btVector3(0,1,0),-0.01));
+		break;
+	case '5':
+		gConvex0.mTransform.setRotation(gConvex0.mTransform.getRotation()*btQuaternion(btVector3(0,0,1),0.01));
+		break;
+
 	case '6':
 		gConvex0.mTransform.setOrigin(gConvex0.mTransform.getOrigin() + btVector3(gDisp,0,0));
 		break;
diff --git a/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp b/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
index a0d13dacf..646c07a5d 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
+++ b/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
@@ -192,7 +192,7 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
 			normalInB = pointOnA-pointOnB;
 			float lenSqr = m_cachedSeparatingAxis.length2();
 			//valid normal
-			if (lenSqr < 0.00001)
+			if (lenSqr < 0.0001)
 			{
 				m_degenerateSimplex = 5;
 			}