diff --git a/Demos/Benchmarks/BenchmarkDemo.cpp b/Demos/Benchmarks/BenchmarkDemo.cpp
index 39d33f261..2b0c26754 100644
--- a/Demos/Benchmarks/BenchmarkDemo.cpp
+++ b/Demos/Benchmarks/BenchmarkDemo.cpp
@@ -91,7 +91,7 @@ public:
 			// rotate around by alpha degrees y 
 			btQuaternion q(btVector3(0.0, 1.0, 0.0), alpha);
 			direction[i] = btVector3(1.0, 0.0, 0.0);
-			direction[i] = q * direction[i];
+			direction[i] = quatRotate(q , direction[i]);
 			direction[i] = direction[i] * ray_length;
 			
 			
diff --git a/Demos/BspDemo/BspConverter.cpp b/Demos/BspDemo/BspConverter.cpp
index c85a35e1a..483d414d3 100644
--- a/Demos/BspDemo/BspConverter.cpp
+++ b/Demos/BspDemo/BspConverter.cpp
@@ -81,8 +81,8 @@ void BspConverter::convertBsp(BspLoader& bspLoader,float scaling)
 							planeEq.setValue(
 								plane.normal[0],
 								plane.normal[1],
-								plane.normal[2],
-								scaling*-plane.dist);
+								plane.normal[2]);
+							planeEq[3] = scaling*-plane.dist;
 
 							planeEquations.push_back(planeEq);
 							isValidBrush=true;
@@ -160,8 +160,8 @@ void BspConverter::convertBsp(BspLoader& bspLoader,float scaling)
 													planeEq.setValue(
 														plane.normal[0],
 														plane.normal[1],
-														plane.normal[2],
-														scaling*-plane.dist);
+														plane.normal[2]);
+													planeEq[3] = scaling*-plane.dist;
 													planeEquations.push_back(planeEq);
 													isValidBrush=true;
 												}
diff --git a/Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp b/Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
index 0f90cc7ca..57db32dc6 100644
--- a/Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
+++ b/Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
@@ -119,7 +119,7 @@ void CcdPhysicsDemo::createStack( btCollisionShape* boxShape, float halfCubeSize
 		int rowSize = size - i;
 		for(int j=0; j< rowSize; j++)
 		{
-			btVector4 pos;
+			btVector3 pos;
 			pos.setValue(
 				-rowSize * halfCubeSize + halfCubeSize + j * 2.0f * halfCubeSize,
 				halfCubeSize + i * halfCubeSize * 2.0f,
diff --git a/Demos/ConcaveConvexcastDemo/ConcaveConvexcastDemo.cpp b/Demos/ConcaveConvexcastDemo/ConcaveConvexcastDemo.cpp
index 07049e042..3557a3cef 100644
--- a/Demos/ConcaveConvexcastDemo/ConcaveConvexcastDemo.cpp
+++ b/Demos/ConcaveConvexcastDemo/ConcaveConvexcastDemo.cpp
@@ -123,9 +123,9 @@ public:
 		{
 			btScalar alpha = dalpha * i;
 			// rotate around by alpha degrees y 
-			btQuaternion q(btVector3(0.0, 1.0, 0.0), alpha);
+			btTransform tr(btQuaternion(btVector3(0.0, 1.0, 0.0), alpha));
 			direction[i] = btVector3(1.0, 0.0, 0.0);
-			direction[i] = q * direction[i];
+			direction[i] = tr * direction[i];
 			direction[i] = direction[i];
 			source[i] = btVector3(min_x, max_y, z);
 			dest[i] = source[i] + direction[i] * ray_length;
diff --git a/Demos/ConcaveRaycastDemo/ConcaveRaycastDemo.cpp b/Demos/ConcaveRaycastDemo/ConcaveRaycastDemo.cpp
index 5643ae388..2a1b027b8 100644
--- a/Demos/ConcaveRaycastDemo/ConcaveRaycastDemo.cpp
+++ b/Demos/ConcaveRaycastDemo/ConcaveRaycastDemo.cpp
@@ -126,9 +126,9 @@ public:
 		{
 			btScalar alpha = dalpha * i;
 			// rotate around by alpha degrees y 
-			btQuaternion q(btVector3(0.0, 1.0, 0.0), alpha);
+			btTransform tr (btQuaternion (btVector3(0.0, 1.0, 0.0), alpha));
 			direction[i] = btVector3(1.0, 0.0, 0.0);
-			direction[i] = q * direction[i];
+			direction[i] = tr* direction[i];
 			direction[i] = direction[i] * ray_length;
 			source[i] = btVector3(min_x, max_y, z);
 			dest[i] = source[i] + direction[i];
diff --git a/Demos/SoftDemo/SoftDemo.cpp b/Demos/SoftDemo/SoftDemo.cpp
index 69309e574..6cdba657c 100644
--- a/Demos/SoftDemo/SoftDemo.cpp
+++ b/Demos/SoftDemo/SoftDemo.cpp
@@ -76,7 +76,7 @@ void SoftDemo::createStack( btCollisionShape* boxShape, float halfCubeSize, int
 		int rowSize = size - i;
 		for(int j=0; j< rowSize; j++)
 		{
-			btVector4 pos;
+			btVector3 pos;
 			pos.setValue(
 				-rowSize * halfCubeSize + halfCubeSize + j * 2.0f * halfCubeSize,
 				halfCubeSize + i * halfCubeSize * 2.0f,
diff --git a/src/BulletDynamics/Vehicle/btRaycastVehicle.h b/src/BulletDynamics/Vehicle/btRaycastVehicle.h
index 8361dcabe..568470cfd 100644
--- a/src/BulletDynamics/Vehicle/btRaycastVehicle.h
+++ b/src/BulletDynamics/Vehicle/btRaycastVehicle.h
@@ -180,7 +180,18 @@ public:
 		//not yet
 	}
 
-	virtual	void	solveConstraint(btScalar	timeStep)
+	virtual void getInfo1 (btConstraintInfo1* info)
+	{
+		info->m_numConstraintRows = 0;
+		info->nub = 0;
+	}
+
+	virtual void getInfo2 (btConstraintInfo2* info)
+	{
+		btAssert(0);
+	}
+
+	virtual	void	solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar	timeStep)
 	{
 		(void)timeStep;
 		//not yet