diff --git a/AUTHORS.txt b/AUTHORS.txt
index 8e5b831e7..556e6f641 100644
--- a/AUTHORS.txt
+++ b/AUTHORS.txt
@@ -35,5 +35,6 @@ Marten Svanfeldt
 Pierre Terdiman
 Steven Thompson
 Tamas Umenhoffer
+Yunfei Bai
 
 If your name is missing, please send an email to erwin.coumans@gmail.com or file an issue at http://github.com/bulletphysics/bullet3
diff --git a/data/duck.mtl b/data/duck.mtl
new file mode 100644
index 000000000..43e9be2ae
--- /dev/null
+++ b/data/duck.mtl
@@ -0,0 +1,13 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl blinn3
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.640000 0.640000 0.640000
+Ks 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Ka duckCM.png
+map_Kd duckCM.png
\ No newline at end of file
diff --git a/data/duck.obj b/data/duck.obj
new file mode 100644
index 000000000..b4a71e1f9
--- /dev/null
+++ b/data/duck.obj
@@ -0,0 +1,8604 @@
+# Blender v2.68 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib duck.mtl
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diff --git a/data/duckCM.png b/data/duckCM.png
new file mode 100644
index 000000000..62d9200ba
Binary files /dev/null and b/data/duckCM.png differ
diff --git a/data/duck_vhacd.obj b/data/duck_vhacd.obj
new file mode 100644
index 000000000..54b8990c7
--- /dev/null
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+v -0.902678 1.146949 0.057149
+v -0.773777 1.082508 -0.018060
+v -0.902678 1.061012 0.143009
+v -0.795264 1.093251 0.336466
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+v -0.924164 1.136206 0.164529
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+v -0.870438 1.103995 0.304252
+v -0.934917 1.103995 0.153747
+v -0.741519 1.061012 0.207480
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diff --git a/data/duck_vhacd.urdf b/data/duck_vhacd.urdf
new file mode 100644
index 000000000..8d9c4be50
--- /dev/null
+++ b/data/duck_vhacd.urdf
@@ -0,0 +1,32 @@
+<?xml version="0.0" ?>
+<robot name="cube.urdf">
+  <link name="baseLink">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.02 0.0"/>
+       <mass value=".1"/>
+       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="duck.obj" scale=".05 .05 .05"/>
+      </geometry>
+       <material name="yellow">
+        <color rgba="1 1 0.4 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+	 	<mesh filename="duck_vhacd.obj" scale=".05 .05 .05"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+
diff --git a/data/kiva_shelf/model.sdf b/data/kiva_shelf/model.sdf
index 138f88d6d..501a6107c 100644
--- a/data/kiva_shelf/model.sdf
+++ b/data/kiva_shelf/model.sdf
@@ -31,25 +31,175 @@
 
 
       <collision concave="yes" name="pod_collision">
-        <pose>0 0 0 1.5707 0 0</pose>
+        <pose>0 0 1.21515 1.5707 0 0</pose>
         <geometry>
-          <mesh>
-            <uri>meshes/pod_lowres.stl</uri>
-          </mesh>
+         		<box>
+              <size>0.875 1.754 0.03</size>
+            </box>
+        </geometry>
+      </collision>
+      
+      <collision concave="yes" name="pod_collision">
+        <pose>-0.42 0 1.18 1.5707 0 1.5707 </pose>
+        <geometry>
+         		<box>
+              <size>0.875 1.754 0.03</size>
+            </box>
+        </geometry>
+      </collision>
+      
+       <collision concave="yes" name="pod_collision">
+        <pose>0.42 0.42 1.17 1.5707 0 0</pose>
+        <geometry>
+         		<box>
+              <size>0.03 2.3 0.03</size>
+            </box>
+        </geometry>
+      </collision>
+ 			<collision concave="yes" name="pod_collision">
+        <pose>-0.42 0.42 1.17 1.5707 0 0</pose>
+        <geometry>
+         		<box>
+              <size>0.03 2.3 0.03</size>
+            </box>
+        </geometry>
+      </collision>
+      <collision concave="yes" name="pod_collision">
+        <pose>-0.42 -0.42 1.17 1.5707 0 0</pose>
+        <geometry>
+         		<box>
+              <size>0.03 2.3 0.03</size>
+            </box>
+        </geometry>
+      </collision>
+      <collision concave="yes" name="pod_collision">
+        <pose>0.42 -0.42 1.17 1.5707 0 0</pose>
+        <geometry>
+         		<box>
+              <size>0.03 2.3 0.03</size>
+            </box>
+        </geometry>
+      </collision>
+       <collision concave="yes" name="pod_collision">
+        <pose>0.15 0 1.49 1.5707 0 1.5707 </pose>
+        <geometry>
+         		<box>
+              <size>0.875 1.32 0.01</size>
+            </box>
+        </geometry>
+      </collision>
+      <collision concave="yes" name="pod_collision">
+        <pose>-0.15 0 1.49 1.5707 0 1.5707 </pose>
+        <geometry>
+         		<box>
+              <size>0.875 1.32 0.01</size>
+            </box>
+        </geometry>
+      </collision>
+       <collision concave="yes" name="pod_collision">
+        <pose>0 0 .57 1.5707 0 1.5707 </pose>
+        <geometry>
+         		<box>
+              <size>0.875 0.45 0.01</size>
+            </box>
+        </geometry>
+      </collision>
+ 			<collision concave="yes" name="pod_collision">
+        <pose>0.42 0 1.18 1.5707 0 1.5707 </pose>
+        <geometry>
+         		<box>
+              <size>0.875 1.754 0.03</size>
+            </box>
+        </geometry>
+      </collision>
+      	<collision concave="yes" name="pod_collision">
+        <pose>0 0 1.06 0 0 0 </pose>
+        <geometry>
+         		<box>
+              <size>0.905 0.856 0.028 </size>
+            </box>
+        </geometry>
+      </collision>
+      <collision concave="yes" name="pod_collision">
+        <pose>0 0 1.06 0 0 0 </pose>
+        <geometry>
+         		<box>
+              <size>0.905 0.856 0.028 </size>
+            </box>
+        </geometry>
+      </collision>
+			<collision concave="yes" name="pod_collision">
+        <pose>0 0 0.80 0 0 0 </pose>
+        <geometry>
+         		<box>
+              <size>0.905 0.856 0.028 </size>
+            </box>
+        </geometry>
+      </collision>
+      <collision concave="yes" name="pod_collision">
+        <pose>0 0.43 0.81 0 0 0 </pose>
+        <geometry>
+         		<box>
+              <size>0.856 0.018  0.028 </size>
+            </box>
+        </geometry>
+      </collision>
+       <collision concave="yes" name="pod_collision">
+        <pose>0 -0.43 0.81 0 0 0 </pose>
+        <geometry>
+         		<box>
+              <size>0.856 0.018  0.028 </size>
+            </box>
+        </geometry>
+      </collision>
+       <collision concave="yes" name="pod_collision">
+        <pose>0 0.43 1.08 0 0 0 </pose>
+        <geometry>
+         		<box>
+              <size>0.856 0.018  0.028 </size>
+            </box>
+        </geometry>
+      </collision>
+       <collision concave="yes" name="pod_collision">
+        <pose>0 -0.43 1.08 0 0 0 </pose>
+        <geometry>
+         		<box>
+              <size>0.856 0.018  0.028 </size>
+            </box>
+        </geometry>
+      </collision>
+      <collision concave="yes" name="pod_collision">
+        <pose>0 0 0.37 0 0 0 </pose>
+        <geometry>
+         		<box>
+              <size>0.905 0.856 0.028 </size>
+            </box>
+        </geometry>
+      </collision>
+       <collision concave="yes" name="pod_collision">
+        <pose>0 0 1.29 0 0 0 </pose>
+        <geometry>
+         		<box>
+              <size>0.905 0.856 0.028 </size>
+            </box>
+        </geometry>
+      </collision>
+       <collision concave="yes" name="pod_collision">
+        <pose>0 0 1.53 0 0 0 </pose>
+        <geometry>
+         		<box>
+              <size>0.905 0.856 0.028 </size>
+            </box>
+        </geometry>
+      </collision>
+      <collision concave="yes" name="pod_collision">
+        <pose>0 0 1.78 0 0 0 </pose>
+        <geometry>
+         		<box>
+              <size>0.905 0.856 0.028 </size>
+            </box>
         </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0.8</mu>
-              <mu2>0.8</mu2>
-              <fdir1>0.0 0.0 0.0</fdir1>
-              <slip1>1.0</slip1>
-              <slip2>1.0</slip2>
-            </ode>
-          </friction>
-        </surface>
       </collision>
-
     </link>
   </model>
 </sdf>
diff --git a/data/lego/lego.obj b/data/lego/lego.obj
new file mode 100644
index 000000000..7dd1a2c34
--- /dev/null
+++ b/data/lego/lego.obj
@@ -0,0 +1,3751 @@
+# Blender v2.68 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib lego.mtl
+o Duplo_Stein_2x2_V3
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diff --git a/data/lego/lego.urdf b/data/lego/lego.urdf
new file mode 100644
index 000000000..634a5e64c
--- /dev/null
+++ b/data/lego/lego.urdf
@@ -0,0 +1,32 @@
+<?xml version="0.0" ?>
+<robot name="cube.urdf">
+  <link name="legobrick">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+       <mass value=".1"/>
+       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="1.570796 0 0" xyz="-0.016 -0.016 -0.0115"/>
+      <geometry>
+        <mesh filename="lego.obj" scale=".1 .1 .1"/>
+      </geometry>
+       <material name="yellow">
+        <color rgba="1 1 0.4 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.570796 0 0" xyz="0 0 0"/>
+      <geometry>
+	 			<box size="0.032 0.023 0.032"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+
diff --git a/data/lego/lego_vhacd.obj b/data/lego/lego_vhacd.obj
new file mode 100644
index 000000000..b136bb5f6
--- /dev/null
+++ b/data/lego/lego_vhacd.obj
@@ -0,0 +1,3072 @@
+o convex_0
+v -0.001024 0.146464 -0.318524
+v 0.054282 0.193568 -0.160829
+v -0.001024 0.193568 -0.160829
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+v -0.001024 0.193568 -0.318524
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+o convex_1
+v 0.304179 0.148508 -0.160783
+v 0.318523 0.193568 0.001024
+v 0.261169 0.193568 0.001024
+v 0.318523 0.148508 0.001024
+v 0.318523 0.193568 -0.160783
+v 0.261169 0.177182 -0.160783
+v 0.261169 0.148508 0.001024
+v 0.261169 0.193568 -0.160783
+v 0.318523 0.148508 -0.160783
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+f 1014 1018 1021 
+f 1013 1012 1014 
+f 1012 1013 1015 
+f 1014 1012 1015 
+f 1013 1014 1016 
+f 1011 1015 1017 
+f 1016 1011 1017 
+f 1015 1011 1018 
+f 1014 1015 1018 
+f 1013 1016 1019 
+f 1016 1017 1019 
+f 1019 1017 1020 
+f 1015 1013 1020 
+f 1017 1015 1020 
+f 1013 1019 1020 
+f 1011 1016 1021 
+f 1016 1014 1021 
+f 1018 1011 1021 
+o convex_77
+v 0.164904 0.056331 -0.212002
+v 0.226347 0.111637 -0.216098
+v 0.226347 0.109585 -0.216098
+v 0.212008 0.111637 -0.195621
+v 0.158750 0.111637 -0.224293
+v 0.212008 0.056331 -0.195621
+v 0.173095 0.056331 -0.224293
+v 0.220193 0.109585 -0.226344
+v 0.158750 0.085002 -0.209960
+v 0.191523 0.056331 -0.195624
+v 0.207912 0.064527 -0.214050
+v 0.199721 0.111637 -0.195621
+v 0.158750 0.070672 -0.224293
+v 0.158750 0.111637 -0.214053
+v 0.214053 0.064527 -0.207918
+v 0.158750 0.070672 -0.209960
+v 0.191523 0.085002 -0.195624
+v 0.199721 0.056331 -0.212002
+f 1032 1036 1039 
+f 1024 1023 1025 
+f 1025 1023 1026 
+f 1024 1025 1027 
+f 1027 1022 1028 
+f 1023 1024 1029 
+f 1026 1023 1029 
+f 1022 1027 1031 
+f 1028 1029 1032 
+f 1025 1026 1033 
+f 1027 1025 1033 
+f 1031 1027 1033 
+f 1028 1022 1034 
+f 1029 1028 1034 
+f 1026 1029 1034 
+f 1030 1026 1034 
+f 1026 1030 1035 
+f 1033 1026 1035 
+f 1030 1033 1035 
+f 1024 1027 1036 
+f 1029 1024 1036 
+f 1032 1029 1036 
+f 1022 1031 1037 
+f 1031 1030 1037 
+f 1034 1022 1037 
+f 1030 1034 1037 
+f 1030 1031 1038 
+f 1033 1030 1038 
+f 1031 1033 1038 
+f 1027 1028 1039 
+f 1028 1032 1039 
+f 1036 1027 1039 
+o convex_78
+v 0.087065 0.117788 -0.097287
+v 0.119813 0.175135 -0.105485
+v 0.119813 0.154655 -0.105485
+v 0.062491 0.175135 -0.052246
+v 0.103431 0.175135 -0.113683
+v 0.113680 0.117788 -0.103434
+v 0.060427 0.175135 -0.070674
+v 0.103436 0.117788 -0.115734
+v 0.097291 0.117788 -0.087057
+v 0.060427 0.162846 -0.052246
+v 0.119813 0.154655 -0.113683
+v 0.060427 0.162846 -0.070674
+v 0.113680 0.117788 -0.115734
+v 0.103436 0.154644 -0.115734
+v 0.119813 0.175135 -0.113683
+v 0.062491 0.162846 -0.052246
+f 1049 1048 1055 
+f 1042 1041 1043 
+f 1043 1041 1044 
+f 1043 1044 1046 
+f 1045 1040 1047 
+f 1045 1042 1048 
+f 1040 1045 1048 
+f 1043 1046 1049 
+f 1040 1048 1049 
+f 1041 1042 1050 
+f 1042 1045 1050 
+f 1046 1047 1051 
+f 1047 1040 1051 
+f 1040 1049 1051 
+f 1049 1046 1051 
+f 1045 1047 1052 
+f 1050 1045 1052 
+f 1046 1044 1053 
+f 1047 1046 1053 
+f 1052 1047 1053 
+f 1044 1041 1054 
+f 1041 1050 1054 
+f 1050 1052 1054 
+f 1052 1053 1054 
+f 1053 1044 1054 
+f 1042 1043 1055 
+f 1048 1042 1055 
+f 1043 1049 1055 
+o convex_79
+v 0.089109 0.111637 -0.220205
+v 0.117777 0.156697 -0.203819
+v 0.117777 0.156697 -0.212014
+v 0.068621 0.156697 -0.238633
+v 0.078870 0.154646 -0.248879
+v 0.117777 0.111637 -0.212014
+v 0.103439 0.111637 -0.203819
+v 0.103439 0.156697 -0.203819
+v 0.099339 0.113693 -0.228391
+v 0.117777 0.111637 -0.203819
+v 0.074770 0.154646 -0.248879
+f 1060 1064 1066 
+f 1057 1058 1059 
+f 1059 1058 1060 
+f 1060 1058 1061 
+f 1058 1057 1061 
+f 1056 1061 1062 
+f 1059 1056 1062 
+f 1059 1062 1063 
+f 1057 1059 1063 
+f 1062 1057 1063 
+f 1060 1061 1064 
+f 1061 1056 1064 
+f 1061 1057 1065 
+f 1062 1061 1065 
+f 1057 1062 1065 
+f 1056 1059 1066 
+f 1059 1060 1066 
+f 1064 1056 1066 
+o convex_80
+v 0.207916 0.054282 -0.113680
+v 0.222246 0.117782 -0.089108
+v 0.218149 0.117782 -0.089108
+v 0.212010 0.117782 -0.121876
+v 0.195624 0.117782 -0.103447
+v 0.195624 0.054282 -0.103447
+v 0.195624 0.054282 -0.121876
+v 0.212010 0.054282 -0.121876
+v 0.228392 0.113680 -0.099351
+v 0.195624 0.117782 -0.117776
+v 0.214053 0.066577 -0.107537
+v 0.199724 0.117782 -0.121876
+v 0.222246 0.113680 -0.089108
+f 1077 1075 1079 
+f 1069 1068 1070 
+f 1069 1070 1071 
+f 1069 1071 1072 
+f 1072 1071 1073 
+f 1067 1072 1073 
+f 1067 1073 1074 
+f 1073 1070 1074 
+f 1070 1068 1075 
+f 1074 1070 1075 
+f 1071 1070 1076 
+f 1073 1071 1076 
+f 1072 1067 1077 
+f 1067 1074 1077 
+f 1074 1075 1077 
+f 1070 1073 1078 
+f 1076 1070 1078 
+f 1073 1076 1078 
+f 1068 1069 1079 
+f 1069 1072 1079 
+f 1075 1068 1079 
+f 1072 1077 1079 
+o convex_81
+v 0.212020 0.175135 -0.201766
+v 0.216116 0.111643 -0.226351
+v 0.218161 0.113694 -0.228397
+v 0.197669 0.175135 -0.212018
+v 0.259115 0.175135 -0.267308
+v 0.214065 0.111643 -0.203819
+v 0.259115 0.162847 -0.248870
+v 0.199726 0.111643 -0.203819
+v 0.257058 0.160796 -0.267308
+v 0.228392 0.113694 -0.218164
+v 0.199726 0.111643 -0.212018
+v 0.259115 0.175135 -0.248870
+v 0.197669 0.175135 -0.201766
+v 0.259115 0.160796 -0.267308
+v 0.226347 0.111643 -0.222258
+v 0.197669 0.156700 -0.212018
+f 1087 1092 1095 
+f 1083 1080 1084 
+f 1080 1085 1086 
+f 1081 1085 1087 
+f 1085 1080 1087 
+f 1083 1084 1088 
+f 1086 1085 1089 
+f 1082 1081 1090 
+f 1081 1087 1090 
+f 1088 1082 1090 
+f 1084 1080 1091 
+f 1080 1086 1091 
+f 1086 1084 1091 
+f 1080 1083 1092 
+f 1087 1080 1092 
+f 1084 1086 1093 
+f 1082 1088 1093 
+f 1088 1084 1093 
+f 1086 1089 1093 
+f 1093 1089 1094 
+f 1081 1082 1094 
+f 1085 1081 1094 
+f 1089 1085 1094 
+f 1082 1093 1094 
+f 1083 1088 1095 
+f 1090 1087 1095 
+f 1088 1090 1095 
+f 1092 1083 1095 
+o convex_82
+v 0.103442 0.175135 -0.203821
+v 0.054289 0.158753 -0.271405
+v 0.054289 0.175135 -0.271405
+v 0.123927 0.156703 -0.214062
+v 0.066581 0.156703 -0.240682
+v 0.123927 0.175135 -0.214062
+v 0.103442 0.156703 -0.203821
+v 0.054289 0.175135 -0.252967
+v 0.123927 0.156703 -0.203821
+v 0.056334 0.158753 -0.271405
+v 0.123927 0.175135 -0.203821
+v 0.054289 0.162849 -0.252967
+f 1103 1097 1107 
+f 1098 1096 1101 
+f 1100 1099 1102 
+f 1096 1098 1103 
+f 1098 1097 1103 
+f 1102 1096 1103 
+f 1099 1101 1104 
+f 1096 1102 1104 
+f 1102 1099 1104 
+f 1097 1098 1105 
+f 1099 1100 1105 
+f 1100 1097 1105 
+f 1098 1101 1105 
+f 1101 1099 1105 
+f 1101 1096 1106 
+f 1096 1104 1106 
+f 1104 1101 1106 
+f 1097 1100 1107 
+f 1100 1102 1107 
+f 1102 1103 1107 
diff --git a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
index 5478b5b7d..d9e58ef5a 100644
--- a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
+++ b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
@@ -225,7 +225,8 @@ void ConvertURDF2BulletInternal(
     {
 
 
-        btVector3 color = selectColor2();
+        btVector4 color = selectColor2();
+		u2b.getLinkColor(urdfLinkIndex,color);
         /*
          if (visual->material.get())
          {
@@ -255,7 +256,7 @@ void ConvertURDF2BulletInternal(
             btRigidBody* body = creation.allocateRigidBody(urdfLinkIndex, mass, localInertiaDiagonal, inertialFrameInWorldSpace, compoundShape);
             linkRigidBody = body;
 
-            world1->addRigidBody(body, bodyCollisionFilterGroup, bodyCollisionFilterMask);
+            world1->addRigidBody(body);
 
             compoundShape->setUserIndex(graphicsIndex);
 
@@ -320,15 +321,12 @@ void ConvertURDF2BulletInternal(
                         cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointDamping = jointDamping;
                         cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointFriction= jointFriction;
                         creation.addLinkMapping(urdfLinkIndex,mbLinkIndex);
-						if (jointLowerLimit <= jointUpperLimit)
-						{
-							//std::string name = u2b.getLinkName(urdfLinkIndex);
-							//printf("create btMultiBodyJointLimitConstraint for revolute link name=%s urdf link index=%d (low=%f, up=%f)\n", name.c_str(), urdfLinkIndex, jointLowerLimit, jointUpperLimit);
-
-							btMultiBodyConstraint* con = new btMultiBodyJointLimitConstraint(cache.m_bulletMultiBody, mbLinkIndex, jointLowerLimit, jointUpperLimit);
-							world1->addMultiBodyConstraint(con);
-						}
-
+                        if (jointType == URDFRevoluteJoint && jointLowerLimit <= jointUpperLimit) {
+                          //std::string name = u2b.getLinkName(urdfLinkIndex);
+                          //printf("create btMultiBodyJointLimitConstraint for revolute link name=%s urdf link index=%d (low=%f, up=%f)\n", name.c_str(), urdfLinkIndex, jointLowerLimit, jointUpperLimit);
+                          btMultiBodyConstraint* con = new btMultiBodyJointLimitConstraint(cache.m_bulletMultiBody, mbLinkIndex, jointLowerLimit, jointUpperLimit);
+                          world1->addMultiBodyConstraint(con);
+                        }
                     } else
                     {
 
diff --git a/examples/OpenGLWindow/SimpleOpenGL3App.cpp b/examples/OpenGLWindow/SimpleOpenGL3App.cpp
index a7254f889..f7980109a 100644
--- a/examples/OpenGLWindow/SimpleOpenGL3App.cpp
+++ b/examples/OpenGLWindow/SimpleOpenGL3App.cpp
@@ -172,7 +172,7 @@ SimpleOpenGL3App::SimpleOpenGL3App(	const char* title, int width,int height, boo
     
     b3Assert(glGetError() ==GL_NO_ERROR);
 
-	m_instancingRenderer = new GLInstancingRenderer(128*1024,64*1024*1024);
+	m_instancingRenderer = new GLInstancingRenderer(128*1024,128*1024*1024);
     m_primRenderer = new GLPrimitiveRenderer(width,height);
     
     m_renderer = m_instancingRenderer ;
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index fb0247dca..9015bdb81 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -1,6 +1,5 @@
 #include "PhysicsServerCommandProcessor.h"
 
-
 #include "../Importers/ImportURDFDemo/BulletUrdfImporter.h"
 #include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
 #include "../Importers/ImportURDFDemo/URDF2Bullet.h"
@@ -563,7 +562,7 @@ PhysicsServerCommandProcessor::PhysicsServerCommandProcessor()
 	m_data = new PhysicsServerCommandProcessorInternalData();
 
 	createEmptyDynamicsWorld();
-	m_data->m_dynamicsWorld->getSolverInfo().m_linearSlop = 0.0001;
+	m_data->m_dynamicsWorld->getSolverInfo().m_linearSlop = 0.00001;
 	m_data->m_dynamicsWorld->getSolverInfo().m_numIterations = 100;
 
 }
@@ -604,7 +603,7 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
 
 
 	m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, 0));
-	m_data->m_dynamicsWorld->getSolverInfo().m_erp2 = 0.05;
+	m_data->m_dynamicsWorld->getSolverInfo().m_erp2 = 0.08;
 
 }
 
@@ -1887,6 +1886,9 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                         applyJointDamping(i);
                     }
 					
+					
+					
+
 					btScalar deltaTimeScaled = m_data->m_physicsDeltaTime*simTimeScalingFactor;
 
 					if (m_data->m_numSimulationSubSteps > 0)
@@ -2820,6 +2822,7 @@ void PhysicsServerCommandProcessor::removePickingConstraint()
 		m_data->m_dynamicsWorld->removeConstraint(m_data->m_pickedConstraint);
 		delete m_data->m_pickedConstraint;
 		m_data->m_pickedConstraint = 0;
+		m_data->m_pickedBody->forceActivationState(ACTIVE_TAG);
 		m_data->m_pickedBody = 0;
 	}
 	if (m_data->m_pickingMultiBodyPoint2Point)
@@ -2889,11 +2892,12 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
 			btVector3 shiftPos = spawnDir*spawnDistance;
 			btVector3 spawnPos = gVRGripperPos + shiftPos;
 			loadUrdf("sphere_small.urdf", spawnPos, gVRGripperOrn, true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
+			//loadUrdf("lego/lego.urdf", spawnPos, gVRGripperOrn, true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
 			m_data->m_sphereId = bodyId;
 			InteralBodyData* parentBody = m_data->getHandle(bodyId);
 			if (parentBody->m_multiBody)
 			{
-				parentBody->m_multiBody->setBaseVel(spawnDir * 3);
+				parentBody->m_multiBody->setBaseVel(spawnDir * 5);
 			}
 		}
 
@@ -2942,9 +2946,9 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
 					loadUrdf("cube.urdf", btVector3(3, -2, 0.5+i), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
 				}
 
-				loadUrdf("sphere2.urdf", btVector3(-5, 0, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
-				loadUrdf("sphere2.urdf", btVector3(-5, 0, 2), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
-				loadUrdf("sphere2.urdf", btVector3(-5, 0, 3), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
+				loadUrdf("lego/lego.urdf", btVector3(-3, 0, .1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
+				loadUrdf("lego/lego.urdf", btVector3(-3, 0, .2), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
+				loadUrdf("lego/lego.urdf", btVector3(-3, 0, .3), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
 				loadUrdf("r2d2.urdf", btVector3(2, -2, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
 				
 
@@ -2973,15 +2977,27 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
 					}
 				}
 #endif
-			
-				//loadUrdf("nao/nao.urdf", btVector3(2,5, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
+
+
+				
+	for (int i = 0; i < 6; i++)
+	{
+		loadUrdf("jenga/jenga.urdf", btVector3(-1-0.1*i,-0.5,  .07), btQuaternion(btVector3(0,1,0),SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
+	}
+
+	//loadUrdf("nao/nao.urdf", btVector3(2,5, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
 				loadUrdf("husky/husky.urdf", btVector3(5, 2, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
 				m_data->m_huskyId = bodyId;
 				
 			}
 			loadSdf("kiva_shelf/model.sdf", &gBufferServerToClient[0], gBufferServerToClient.size(), true);
 			loadUrdf("teddy_vhacd.urdf", btVector3(-0.1, 0.6, 0.85), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
-			loadUrdf("sphere_small.urdf", btVector3(-0.1, 0.6, 1.25), gVRGripperOrn, true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
+			loadUrdf("duck_vhacd.urdf", btVector3(-0.3, 0.6, 0.6), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
+			//loadUrdf("cup/cup_small.urdf", btVector3(-0.3, 0.6, 0.85), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
+			//loadUrdf("cup/pitcher_small.urdf", btVector3(-0.3, 0.6, 1.15), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
+			
+			//loadUrdf("sphere_small.urdf", btVector3(-0.1, 0.6, 1.25), gVRGripperOrn, true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
+
 
 			m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, -10));
 
diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp
index 540901af9..388a0dba7 100644
--- a/examples/SharedMemory/PhysicsServerExample.cpp
+++ b/examples/SharedMemory/PhysicsServerExample.cpp
@@ -1181,14 +1181,20 @@ void	PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt
 			} else
 			{
 				gDebugRenderToggle = 0;
-				simTimeScalingFactor *= 0.5;
+				
 				if (simTimeScalingFactor==0)
 				{
 					simTimeScalingFactor = 1;
-				}
-				if (simTimeScalingFactor<0.01)
+				} else
 				{
-					simTimeScalingFactor = 0;
+					if (simTimeScalingFactor==1)
+					{
+						simTimeScalingFactor = 0.25;
+					}
+					else
+					{
+						simTimeScalingFactor = 0;
+					}
 				}
 			}
 		} else
diff --git a/examples/SharedMemory/PosixSharedMemory.cpp b/examples/SharedMemory/PosixSharedMemory.cpp
index b4ecad863..0297d43e2 100644
--- a/examples/SharedMemory/PosixSharedMemory.cpp
+++ b/examples/SharedMemory/PosixSharedMemory.cpp
@@ -2,7 +2,7 @@
 #include "Bullet3Common/b3Logging.h"
 #include "LinearMath/btScalar.h" //for btAssert
 
-//haven't implemented shared memory on Windows yet, just Linux and Mac
+//Windows implementation is in Win32SharedMemory.cpp
 #ifndef _WIN32
 #define TEST_SHARED_MEMORY
 #endif//_WIN32
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 9e82744fa..cfa9ba684 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -909,15 +909,29 @@ static PyObject* pybullet_getJointState(PyObject* self, PyObject* args) {
   if (size == 2)  // get body index and joint index
   {
     if (PyArg_ParseTuple(args, "ii", &bodyIndex, &jointIndex)) {
-      int status_type = 0;
-      b3SharedMemoryCommandHandle cmd_handle =
+	  int status_type = 0;
+	  b3SharedMemoryCommandHandle cmd_handle;
+	  b3SharedMemoryStatusHandle status_handle;
+
+
+      if (bodyIndex < 0) {
+        PyErr_SetString(SpamError, "getJointState failed; invalid bodyIndex");
+        return NULL;
+      }
+      if (jointIndex < 0) {
+        PyErr_SetString(SpamError, "getJointState failed; invalid jointIndex");
+        return NULL;
+      }
+
+      
+      cmd_handle =
           b3RequestActualStateCommandInit(sm, bodyIndex);
-      b3SharedMemoryStatusHandle status_handle =
+      status_handle =
           b3SubmitClientCommandAndWaitStatus(sm, cmd_handle);
 
       status_type = b3GetStatusType(status_handle);
       if (status_type != CMD_ACTUAL_STATE_UPDATE_COMPLETED) {
-        PyErr_SetString(SpamError, "getBasePositionAndOrientation failed.");
+        PyErr_SetString(SpamError, "getJointState failed.");
         return NULL;
       }
 
@@ -954,6 +968,97 @@ static PyObject* pybullet_getJointState(PyObject* self, PyObject* args) {
   return Py_None;
 }
 
+static PyObject* pybullet_getLinkState(PyObject* self, PyObject* args) {
+  PyObject* pyLinkState;
+  PyObject* pyLinkStateWorldPosition;
+  PyObject* pyLinkStateWorldOrientation;
+  PyObject* pyLinkStateLocalInertialPosition;
+  PyObject* pyLinkStateLocalInertialOrientation;
+
+  struct b3LinkState linkState;
+
+  int bodyIndex = -1;
+  int linkIndex = -1;
+  int i;
+
+  if (0 == sm) {
+    PyErr_SetString(SpamError, "Not connected to physics server.");
+    return NULL;
+  }
+
+  if (PySequence_Size(args) == 2)  // body index and link index
+  {
+    if (PyArg_ParseTuple(args, "ii", &bodyIndex, &linkIndex)) {
+	int status_type = 0;
+	b3SharedMemoryCommandHandle cmd_handle;
+	b3SharedMemoryStatusHandle status_handle;
+
+      if (bodyIndex < 0) {
+        PyErr_SetString(SpamError, "getLinkState failed; invalid bodyIndex");
+        return NULL;
+      }
+      if (linkIndex < 0) {
+        PyErr_SetString(SpamError, "getLinkState failed; invalid jointIndex");
+        return NULL;
+      }
+
+
+      cmd_handle =
+          b3RequestActualStateCommandInit(sm, bodyIndex);
+      status_handle =
+          b3SubmitClientCommandAndWaitStatus(sm, cmd_handle);
+
+      status_type = b3GetStatusType(status_handle);
+      if (status_type != CMD_ACTUAL_STATE_UPDATE_COMPLETED) {
+        PyErr_SetString(SpamError, "getLinkState failed.");
+        return NULL;
+      }
+
+      b3GetLinkState(sm, status_handle, linkIndex, &linkState);
+
+      pyLinkStateWorldPosition = PyTuple_New(3);
+      for (i = 0; i < 3; ++i) {
+        PyTuple_SetItem(pyLinkStateWorldPosition, i,
+                        PyFloat_FromDouble(linkState.m_worldPosition[i]));
+      }
+
+      pyLinkStateWorldOrientation = PyTuple_New(4);
+      for (i = 0; i < 4; ++i) {
+        PyTuple_SetItem(pyLinkStateWorldOrientation, i,
+                        PyFloat_FromDouble(linkState.m_worldOrientation[i]));
+      }
+
+      pyLinkStateLocalInertialPosition = PyTuple_New(3);
+      for (i = 0; i < 3; ++i) {
+        PyTuple_SetItem(pyLinkStateLocalInertialPosition, i,
+                        PyFloat_FromDouble(linkState.m_localInertialPosition[i]));
+      }
+
+      pyLinkStateLocalInertialOrientation = PyTuple_New(4);
+      for (i = 0; i < 4; ++i) {
+        PyTuple_SetItem(pyLinkStateLocalInertialOrientation, i,
+                        PyFloat_FromDouble(linkState.m_localInertialOrientation[i]));
+      }
+
+      pyLinkState = PyTuple_New(4);
+      PyTuple_SetItem(pyLinkState, 0, pyLinkStateWorldPosition);
+      PyTuple_SetItem(pyLinkState, 1, pyLinkStateWorldOrientation);
+      PyTuple_SetItem(pyLinkState, 2, pyLinkStateLocalInertialPosition);
+      PyTuple_SetItem(pyLinkState, 3, pyLinkStateLocalInertialOrientation);
+
+      return pyLinkState;
+    }
+  } else {
+    PyErr_SetString(
+        SpamError,
+        "getLinkState expects 2 arguments (objectUniqueId and link index).");
+    return NULL;
+  }
+
+  Py_INCREF(Py_None);
+  return Py_None;
+}
+
 // internal function to set a float matrix[16]
 // used to initialize camera position with
 // a view and projection matrix in renderImage()
@@ -1920,6 +2025,11 @@ static PyMethodDef SpamMethods[] = {
     {"getJointState", pybullet_getJointState, METH_VARARGS,
      "Get the state (position, velocity etc) for a joint on a body."},
 
+    {"getLinkState", pybullet_getLinkState, METH_VARARGS,
+     "Provides extra information such as the Cartesian world coordinates"
+     " center of mass (COM) of the link, relative to the world reference"
+     " frame."},
+
     {"resetJointState", pybullet_resetJointState, METH_VARARGS,
      "Reset the state (position, velocity etc) for a joint on a body "
      "instantaneously, not through physics simulation."},
diff --git a/src/Bullet3OpenCL/Initialize/b3OpenCLUtils.cpp b/src/Bullet3OpenCL/Initialize/b3OpenCLUtils.cpp
index 369f1d750..0287e0e5d 100644
--- a/src/Bullet3OpenCL/Initialize/b3OpenCLUtils.cpp
+++ b/src/Bullet3OpenCL/Initialize/b3OpenCLUtils.cpp
@@ -560,7 +560,7 @@ void b3OpenCLUtils_printDeviceInfo(cl_device_id device)
 	b3Printf("\t\t\t\t\t3D_MAX_WIDTH\t %u\n", info.m_image3dMaxWidth);
 	b3Printf("\t\t\t\t\t3D_MAX_HEIGHT\t %u\n", info.m_image3dMaxHeight);
 	b3Printf("\t\t\t\t\t3D_MAX_DEPTH\t %u\n", info.m_image3dMaxDepth);
-	if (info.m_deviceExtensions != 0)
+	if (*info.m_deviceExtensions != 0)
 	{
 		b3Printf("\n  CL_DEVICE_EXTENSIONS:%s\n",info.m_deviceExtensions);
 	}
diff --git a/src/Bullet3OpenCL/RigidBody/b3GpuPgsConstraintSolver.cpp b/src/Bullet3OpenCL/RigidBody/b3GpuPgsConstraintSolver.cpp
index 4d14bc428..ad477e25d 100644
--- a/src/Bullet3OpenCL/RigidBody/b3GpuPgsConstraintSolver.cpp
+++ b/src/Bullet3OpenCL/RigidBody/b3GpuPgsConstraintSolver.cpp
@@ -1071,7 +1071,7 @@ b3Scalar b3GpuPgsConstraintSolver::solveGroupCacheFriendlyFinish(b3OpenCLArray<b
 						int orgConstraintIndex = m_gpuData->m_cpuConstraintRows[rowIndex].m_originalConstraintIndex;
 						float breakingThreshold = m_gpuData->m_cpuConstraints[orgConstraintIndex].m_breakingImpulseThreshold;
 					//	printf("rows[%d].m_appliedImpulse=%f\n",rowIndex,rows[rowIndex].m_appliedImpulse);
-						if (b3Fabs((m_gpuData->m_cpuConstraintRows[rowIndex].m_appliedImpulse) >= breakingThreshold))
+						if (b3Fabs(m_gpuData->m_cpuConstraintRows[rowIndex].m_appliedImpulse) >= breakingThreshold)
 						{
 
 							m_gpuData->m_cpuConstraints[orgConstraintIndex].m_flags =0;//&= ~B3_CONSTRAINT_FLAG_ENABLED;
diff --git a/src/BulletDynamics/Featherstone/btMultiBody.cpp b/src/BulletDynamics/Featherstone/btMultiBody.cpp
index 76903be98..8a8a5da77 100644
--- a/src/BulletDynamics/Featherstone/btMultiBody.cpp
+++ b/src/BulletDynamics/Featherstone/btMultiBody.cpp
@@ -122,10 +122,15 @@ btMultiBody::btMultiBody(int n_links,
 		m_useGlobalVelocities(false),
 		m_internalNeedsJointFeedback(false)
 {
+	m_cachedInertiaTopLeft.setValue(0,0,0,0,0,0,0,0,0);
+	m_cachedInertiaTopRight.setValue(0,0,0,0,0,0,0,0,0);
+	m_cachedInertiaLowerLeft.setValue(0,0,0,0,0,0,0,0,0);
+	m_cachedInertiaLowerRight.setValue(0,0,0,0,0,0,0,0,0);
+	m_cachedInertiaValid=false;
+
 	m_links.resize(n_links);
 	m_matrixBuf.resize(n_links + 1);
 
-
     m_baseForce.setValue(0, 0, 0);
     m_baseTorque.setValue(0, 0, 0);
 }
@@ -764,8 +769,8 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar
 
 		//adding damping terms (only)
 		btScalar linDampMult = 1., angDampMult = 1.;
-		zeroAccSpatFrc[0].addVector(angDampMult * m_baseInertia * spatVel[0].getAngular() * (DAMPING_K1_ANGULAR + DAMPING_K2_ANGULAR * spatVel[0].getAngular().norm()),
-								   linDampMult * m_baseMass * spatVel[0].getLinear() * (DAMPING_K1_LINEAR + DAMPING_K2_LINEAR * spatVel[0].getLinear().norm()));
+		zeroAccSpatFrc[0].addVector(angDampMult * m_baseInertia * spatVel[0].getAngular() * (DAMPING_K1_ANGULAR + DAMPING_K2_ANGULAR * spatVel[0].getAngular().safeNorm()),
+								   linDampMult * m_baseMass * spatVel[0].getLinear() * (DAMPING_K1_LINEAR + DAMPING_K2_LINEAR * spatVel[0].getLinear().safeNorm()));
 
 		//
 		//p += vhat x Ihat vhat - done in a simpler way
@@ -851,8 +856,8 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar
 		//
 		//adding damping terms (only)
 		btScalar linDampMult = 1., angDampMult = 1.;
-		zeroAccSpatFrc[i+1].addVector(angDampMult * m_links[i].m_inertiaLocal * spatVel[i+1].getAngular() * (DAMPING_K1_ANGULAR + DAMPING_K2_ANGULAR * spatVel[i+1].getAngular().norm()),
-									 linDampMult * m_links[i].m_mass * spatVel[i+1].getLinear() * (DAMPING_K1_LINEAR + DAMPING_K2_LINEAR * spatVel[i+1].getLinear().norm()));
+		zeroAccSpatFrc[i+1].addVector(angDampMult * m_links[i].m_inertiaLocal * spatVel[i+1].getAngular() * (DAMPING_K1_ANGULAR + DAMPING_K2_ANGULAR * spatVel[i+1].getAngular().safeNorm()),
+									 linDampMult * m_links[i].m_mass * spatVel[i+1].getLinear() * (DAMPING_K1_LINEAR + DAMPING_K2_LINEAR * spatVel[i+1].getLinear().safeNorm()));
 		
         // calculate Ihat_i^A
 		//init the spatial AB inertia (it has the simple form thanks to choosing local body frames origins at their COMs)
@@ -1012,6 +1017,7 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar
 	{
         if (num_links > 0) 
 		{
+			m_cachedInertiaValid = true;
 			m_cachedInertiaTopLeft = spatInertia[0].m_topLeftMat;
 			m_cachedInertiaTopRight = spatInertia[0].m_topRightMat;
 			m_cachedInertiaLowerLeft = spatInertia[0].m_bottomLeftMat;
@@ -1215,6 +1221,14 @@ void btMultiBody::solveImatrix(const btVector3& rhs_top, const btVector3& rhs_bo
         result[5] = rhs_top[2] / m_baseMass;
     } else 
 	{
+		if (!m_cachedInertiaValid)
+		{
+			for (int i=0;i<6;i++)
+			{
+				result[i] = 0.f;
+			}
+			return;
+		}
 		/// Special routine for calculating the inverse of a spatial inertia matrix
 		///the 6x6 matrix is stored as 4 blocks of 3x3 matrices
 		btMatrix3x3 Binv = m_cachedInertiaTopRight.inverse()*-1.f;
@@ -1261,6 +1275,13 @@ void btMultiBody::solveImatrix(const btSpatialForceVector &rhs, btSpatialMotionV
 	{
 		/// Special routine for calculating the inverse of a spatial inertia matrix
 		///the 6x6 matrix is stored as 4 blocks of 3x3 matrices
+		if (!m_cachedInertiaValid)
+		{
+			result.setLinear(btVector3(0,0,0));
+			result.setAngular(btVector3(0,0,0));
+			result.setVector(btVector3(0,0,0),btVector3(0,0,0));
+			return;
+		}
 		btMatrix3x3 Binv = m_cachedInertiaTopRight.inverse()*-1.f;
 		btMatrix3x3 tmp = m_cachedInertiaLowerRight * Binv;
 		btMatrix3x3 invIupper_right = (tmp * m_cachedInertiaTopLeft + m_cachedInertiaLowerLeft).inverse();
diff --git a/src/BulletDynamics/Featherstone/btMultiBody.h b/src/BulletDynamics/Featherstone/btMultiBody.h
index 2b387df1d..82bfbf30d 100644
--- a/src/BulletDynamics/Featherstone/btMultiBody.h
+++ b/src/BulletDynamics/Featherstone/btMultiBody.h
@@ -677,6 +677,7 @@ private:
 	btMatrix3x3 m_cachedInertiaTopRight;
 	btMatrix3x3 m_cachedInertiaLowerLeft;
 	btMatrix3x3 m_cachedInertiaLowerRight;
+	bool m_cachedInertiaValid;
 
     bool m_fixedBase;
 
diff --git a/src/BulletDynamics/Featherstone/btMultiBodySliderConstraint.cpp b/src/BulletDynamics/Featherstone/btMultiBodySliderConstraint.cpp
index e29ae0691..67b106f28 100644
--- a/src/BulletDynamics/Featherstone/btMultiBodySliderConstraint.cpp
+++ b/src/BulletDynamics/Featherstone/btMultiBodySliderConstraint.cpp
@@ -133,7 +133,7 @@ void btMultiBodySliderConstraint::createConstraintRows(btMultiBodyConstraintArra
     for (int i = 0; i < 3; ++i)
     {
         constraintAxis[0] = frameAworld.getColumn(i).cross(jointAxis);
-        if (constraintAxis[0].norm() > EPSILON)
+        if (constraintAxis[0].safeNorm() > EPSILON)
         {
             constraintAxis[0] = constraintAxis[0].normalized();
             constraintAxis[1] = jointAxis.cross(constraintAxis[0]);
diff --git a/src/LinearMath/btMatrix3x3.h b/src/LinearMath/btMatrix3x3.h
index 963c5db97..40cd1e086 100644
--- a/src/LinearMath/btMatrix3x3.h
+++ b/src/LinearMath/btMatrix3x3.h
@@ -1047,7 +1047,8 @@ btMatrix3x3::inverse() const
 {
 	btVector3 co(cofac(1, 1, 2, 2), cofac(1, 2, 2, 0), cofac(1, 0, 2, 1));
 	btScalar det = (*this)[0].dot(co);
-	btFullAssert(det != btScalar(0.0));
+	//btFullAssert(det != btScalar(0.0));
+	btAssert(det != btScalar(0.0));
 	btScalar s = btScalar(1.0) / det;
 	return btMatrix3x3(co.x() * s, cofac(0, 2, 2, 1) * s, cofac(0, 1, 1, 2) * s,
 		co.y() * s, cofac(0, 0, 2, 2) * s, cofac(0, 2, 1, 0) * s,
diff --git a/src/LinearMath/btQuaternion.h b/src/LinearMath/btQuaternion.h
index f7dafcc83..32f0f85d2 100644
--- a/src/LinearMath/btQuaternion.h
+++ b/src/LinearMath/btQuaternion.h
@@ -532,25 +532,29 @@ public:
    * Slerp interpolates assuming constant velocity.  */
 	btQuaternion slerp(const btQuaternion& q, const btScalar& t) const
 	{
-	  btScalar magnitude = btSqrt(length2() * q.length2()); 
-	  btAssert(magnitude > btScalar(0));
 
-    btScalar product = dot(q) / magnitude;
-    if (btFabs(product) < btScalar(1))
+		const btScalar magnitude = btSqrt(length2() * q.length2());
+		btAssert(magnitude > btScalar(0));
+		
+		const btScalar product = dot(q) / magnitude;
+		const btScalar absproduct = btFabs(product);
+		
+		if(absproduct < btScalar(1.0 - SIMD_EPSILON))
 		{
-      // Take care of long angle case see http://en.wikipedia.org/wiki/Slerp
-      const btScalar sign = (product < 0) ? btScalar(-1) : btScalar(1);
-
-      const btScalar theta = btAcos(sign * product);
-      const btScalar s1 = btSin(sign * t * theta);   
-      const btScalar d = btScalar(1.0) / btSin(theta);
-      const btScalar s0 = btSin((btScalar(1.0) - t) * theta);
-
-      return btQuaternion(
-          (m_floats[0] * s0 + q.x() * s1) * d,
-          (m_floats[1] * s0 + q.y() * s1) * d,
-          (m_floats[2] * s0 + q.z() * s1) * d,
-          (m_floats[3] * s0 + q.m_floats[3] * s1) * d);
+			// Take care of long angle case see http://en.wikipedia.org/wiki/Slerp
+			const btScalar theta = btAcos(absproduct);
+			const btScalar d = btSin(theta);
+			btAssert(d > btScalar(0));
+			
+			const btScalar sign = (product < 0) ? btScalar(-1) : btScalar(1);
+			const btScalar s0 = btSin((btScalar(1.0) - t) * theta) / d;
+			const btScalar s1 = btSin(sign * t * theta) / d;
+			
+			return btQuaternion(
+				(m_floats[0] * s0 + q.x() * s1),
+				(m_floats[1] * s0 + q.y() * s1),
+				(m_floats[2] * s0 + q.z() * s1),
+				(m_floats[3] * s0 + q.w() * s1));
 		}
 		else
 		{
diff --git a/src/LinearMath/btVector3.h b/src/LinearMath/btVector3.h
index 839b19c14..487670009 100644
--- a/src/LinearMath/btVector3.h
+++ b/src/LinearMath/btVector3.h
@@ -267,10 +267,20 @@ public:
 
 	/**@brief Return the norm (length) of the vector */
 	SIMD_FORCE_INLINE btScalar norm() const
-	{
+	{		
 		return length();
 	}
 
+	/**@brief Return the norm (length) of the vector */
+	SIMD_FORCE_INLINE btScalar safeNorm() const
+	{
+		btScalar d = length2();
+		//workaround for some clang/gcc issue of sqrtf(tiny number) = -INF
+		if (d>SIMD_EPSILON)
+			return btSqrt(d);
+		return btScalar(0);
+	}
+
   /**@brief Return the distance squared between the ends of this and another vector
    * This is symantically treating the vector like a point */
 	SIMD_FORCE_INLINE btScalar distance2(const btVector3& v) const;