diff --git a/Demos/AllBulletDemos/CMakeLists.txt b/Demos/AllBulletDemos/CMakeLists.txt
index b3df8eea3..4367ca3a5 100644
--- a/Demos/AllBulletDemos/CMakeLists.txt
+++ b/Demos/AllBulletDemos/CMakeLists.txt
@@ -49,11 +49,11 @@ ELSE (WIN32)
 ENDIF (WIN32)
 
 INCLUDE_DIRECTORIES(
-${BULLET_PHYSICS_SOURCE_DIR}/Extras/BulletColladaConverter ${BULLET_PHYSICS_SOURCE_DIR}/Extras  ${BULLET_PHYSICS_SOURCE_DIR}/Extras/GIMPACT/include ${BULLET_PHYSICS_SOURCE_DIR}/Extras/GIMPACTUtils  ${BULLET_PHYSICS_SOURCE_DIR}/Extras/ConvexDecomposition ${BULLET_PHYSICS_SOURCE_DIR}/Extras/ConvexHull ${BULLET_PHYSICS_SOURCE_DIR}/Extras/LibXML ${BULLET_PHYSICS_SOURCE_DIR}/Extras/LibXML/include ${BULLET_PHYSICS_SOURCE_DIR}/Extras/COLLADA_DOM/include/1.4 ${BULLET_PHYSICS_SOURCE_DIR}/Extras/COLLADA_DOM/include ${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL }
+${BULLET_PHYSICS_SOURCE_DIR}/Extras/BulletColladaConverter ${BULLET_PHYSICS_SOURCE_DIR}/Extras  ${BULLET_PHYSICS_SOURCE_DIR}/Extras/GIMPACT/include ${BULLET_PHYSICS_SOURCE_DIR}/Extras/GIMPACTUtils  ${BULLET_PHYSICS_SOURCE_DIR}/Extras/ConvexDecomposition  ${BULLET_PHYSICS_SOURCE_DIR}/Extras/LibXML ${BULLET_PHYSICS_SOURCE_DIR}/Extras/LibXML/include ${BULLET_PHYSICS_SOURCE_DIR}/Extras/COLLADA_DOM/include/1.4 ${BULLET_PHYSICS_SOURCE_DIR}/Extras/COLLADA_DOM/include ${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL }
 )
 
 LINK_LIBRARIES(
-LibBulletColladaConverter LibGLUI  LibGIMPACTUtils LibGIMPACT LibConvexDecomposition LibColladaDom LibXML LibOpenGLSupport LibConvexHull  LibBulletDynamics LibBulletCollision LibLinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+LibBulletColladaConverter LibGLUI  LibGIMPACTUtils LibGIMPACT LibConvexDecomposition LibColladaDom LibXML LibOpenGLSupport  LibBulletDynamics LibBulletCollision LibLinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
 )
 
 ADD_EXECUTABLE(AllBulletDemos
diff --git a/Demos/AllBulletDemos/Jamfile b/Demos/AllBulletDemos/Jamfile
index 31e0c08d8..46ab6a77d 100644
--- a/Demos/AllBulletDemos/Jamfile
+++ b/Demos/AllBulletDemos/Jamfile
@@ -19,8 +19,5 @@ FrameWorkDemo AllBulletDemos :
 	../GjkConvexCastDemo/LinearConvexCastDemo.cpp
 	../VehicleDemo/VehicleDemo.cpp
 	../SoftDemo/SoftDemo.cpp
-	../SoftDemo/btSoftBodyRigidBodyCollisionConfiguration.cpp
-	../SoftDemo/btSoftSoftCollisionAlgorithm.cpp
-	../SoftDemo/btSoftRigidCollisionAlgorithm.cpp
 	../ConstraintDemo/ConstraintDemo.cpp
 ;
diff --git a/Demos/BasicDemo/CMakeLists.txt b/Demos/BasicDemo/CMakeLists.txt
index f59647bd5..be7e84bed 100644
--- a/Demos/BasicDemo/CMakeLists.txt
+++ b/Demos/BasicDemo/CMakeLists.txt
@@ -52,7 +52,7 @@ ${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL }
 )
 
 LINK_LIBRARIES(
-LibOpenGLSupport LibConvexHull  LibBulletDynamics  LibBulletCollision LibLinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+LibOpenGLSupport  LibBulletDynamics  LibBulletCollision LibLinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
 )
 
 ADD_EXECUTABLE(BasicDemo
diff --git a/Demos/Benchmarks/CMakeLists.txt b/Demos/Benchmarks/CMakeLists.txt
index 39eea47f1..5b4227394 100644
--- a/Demos/Benchmarks/CMakeLists.txt
+++ b/Demos/Benchmarks/CMakeLists.txt
@@ -52,7 +52,7 @@ ${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL }
 )
 
 LINK_LIBRARIES(
-LibOpenGLSupport LibConvexHull  LibBulletDynamics  LibBulletCollision LibLinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+LibOpenGLSupport   LibBulletDynamics  LibBulletCollision LibLinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
 )
 
 ADD_EXECUTABLE(Benchmarks
diff --git a/Demos/BspDemo/CMakeLists.txt b/Demos/BspDemo/CMakeLists.txt
index 57016da0b..3d7bb54dc 100644
--- a/Demos/BspDemo/CMakeLists.txt
+++ b/Demos/BspDemo/CMakeLists.txt
@@ -52,7 +52,7 @@ ${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL  }
 )
 
 LINK_LIBRARIES(
- LibOpenGLSupport LibConvexHull LibBulletDynamics  LibBulletCollision LibLinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+ LibOpenGLSupport  LibBulletDynamics  LibBulletCollision LibLinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
 )
 
 ADD_EXECUTABLE(BspPhysicsDemo
diff --git a/Demos/CMakeLists.txt b/Demos/CMakeLists.txt
index 0b6040ba0..142053f05 100644
--- a/Demos/CMakeLists.txt
+++ b/Demos/CMakeLists.txt
@@ -1,2 +1,2 @@
-SUBDIRS( OpenGL AllBulletDemos ConvexDecompositionDemo Benchmarks HelloWorld MultiThreadedDemo CcdPhysicsDemo ConstraintDemo GenericJointDemo RagdollDemo BasicDemo BspDemo MovingConcaveDemo VehicleDemo ColladaDemo UserCollisionAlgorithm CharacterDemo SoftDemo )
+SUBDIRS( OpenGL AllBulletDemos ConvexDecompositionDemo Benchmarks HelloWorld MultiThreadedDemo CcdPhysicsDemo ConstraintDemo SliderConstraintDemo GenericJointDemo RagdollDemo BasicDemo BspDemo MovingConcaveDemo VehicleDemo ColladaDemo UserCollisionAlgorithm CharacterDemo SoftDemo )
 
diff --git a/Demos/CcdPhysicsDemo/CMakeLists.txt b/Demos/CcdPhysicsDemo/CMakeLists.txt
index 22ae02c25..b30a05796 100644
--- a/Demos/CcdPhysicsDemo/CMakeLists.txt
+++ b/Demos/CcdPhysicsDemo/CMakeLists.txt
@@ -52,7 +52,7 @@ ${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL }
 )
 
 LINK_LIBRARIES(
-LibOpenGLSupport LibConvexHull  LibBulletDynamics  LibBulletCollision LibLinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+LibOpenGLSupport  LibBulletDynamics  LibBulletCollision LibLinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
 )
 
 ADD_EXECUTABLE(CcdPhysicsDemo
diff --git a/Demos/CharacterDemo/CMakeLists.txt b/Demos/CharacterDemo/CMakeLists.txt
index 8be183864..368b669de 100644
--- a/Demos/CharacterDemo/CMakeLists.txt
+++ b/Demos/CharacterDemo/CMakeLists.txt
@@ -52,7 +52,7 @@ ${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL }
 )
 
 LINK_LIBRARIES(
- LibOpenGLSupport LibConvexHull LibBulletDynamics LibBulletCollision LibLinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+ LibOpenGLSupport  LibBulletDynamics LibBulletCollision LibLinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
 )
 
 ADD_EXECUTABLE(CharacterDemo
diff --git a/Demos/ColladaDemo/CMakeLists.txt b/Demos/ColladaDemo/CMakeLists.txt
index 8ccd2c881..f3e86627c 100644
--- a/Demos/ColladaDemo/CMakeLists.txt
+++ b/Demos/ColladaDemo/CMakeLists.txt
@@ -48,11 +48,11 @@ ELSE (WIN32)
 ENDIF (WIN32)
 
 INCLUDE_DIRECTORIES(
-${BULLET_PHYSICS_SOURCE_DIR}/Extras/BulletColladaConverter $(BULLET_PHYSICS_SOURCE_DIR)/Extras/ConvexHull ${BULLET_PHYSICS_SOURCE_DIR}/Extras/LibXML ${BULLET_PHYSICS_SOURCE_DIR}/Extras/LibXML/include ${BULLET_PHYSICS_SOURCE_DIR}/Extras/COLLADA_DOM/include/1.4 ${BULLET_PHYSICS_SOURCE_DIR}/Extras/COLLADA_DOM/include ${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL }
+${BULLET_PHYSICS_SOURCE_DIR}/Extras/BulletColladaConverter  ${BULLET_PHYSICS_SOURCE_DIR}/Extras/LibXML ${BULLET_PHYSICS_SOURCE_DIR}/Extras/LibXML/include ${BULLET_PHYSICS_SOURCE_DIR}/Extras/COLLADA_DOM/include/1.4 ${BULLET_PHYSICS_SOURCE_DIR}/Extras/COLLADA_DOM/include ${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL }
 )
 
 LINK_LIBRARIES(
-LibBulletColladaConverter LibColladaDom LibXML LibOpenGLSupport LibConvexHull LibBulletDynamics LibBulletCollision LibLinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+LibBulletColladaConverter LibColladaDom LibXML LibOpenGLSupport  LibBulletDynamics LibBulletCollision LibLinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
 )
 
 ADD_EXECUTABLE(ColladaDemo
diff --git a/Demos/ConstraintDemo/CMakeLists.txt b/Demos/ConstraintDemo/CMakeLists.txt
index 0e4bf5648..85e72b442 100644
--- a/Demos/ConstraintDemo/CMakeLists.txt
+++ b/Demos/ConstraintDemo/CMakeLists.txt
@@ -52,7 +52,7 @@ ${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL }
 )
 
 LINK_LIBRARIES(
-LibOpenGLSupport LibConvexHull  LibBulletDynamics  LibBulletCollision LibLinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+LibOpenGLSupport  LibBulletDynamics  LibBulletCollision LibLinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
 )
 
 ADD_EXECUTABLE(ConstraintDemo
diff --git a/Demos/GenericJointDemo/CMakeLists.txt b/Demos/GenericJointDemo/CMakeLists.txt
index d6ed0a208..705091646 100644
--- a/Demos/GenericJointDemo/CMakeLists.txt
+++ b/Demos/GenericJointDemo/CMakeLists.txt
@@ -52,7 +52,7 @@ ${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL }
 )
 
 LINK_LIBRARIES(
-LibOpenGLSupport LibConvexHull  LibBulletDynamics  LibBulletCollision LibLinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+LibOpenGLSupport LibBulletDynamics  LibBulletCollision LibLinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
 )
 
 ADD_EXECUTABLE(GenericJointDemo
diff --git a/Demos/Jamfile b/Demos/Jamfile
index 7a3929c8a..13c57ded6 100644
--- a/Demos/Jamfile
+++ b/Demos/Jamfile
@@ -8,7 +8,7 @@ if $(GLUT.AVAILABLE) = "yes"
   rule BulletDemo
   {
     Application $(<) : $(>) : noinstall console nomanifest ;
-    LinkWith $(<) :  bulletopenglsupport convexhull bulletdynamics bulletcollision bulletmath ;
+    LinkWith $(<) :  bulletopenglsupport  bulletdynamics bulletcollision bulletmath ;
     CFlags $(<) : 
 	  [ FIncludes $(TOP)/Demos/OpenGL ] 
 	  [ FIncludes $(TOP)/Extras/ConvexHull ]
@@ -37,7 +37,7 @@ if $(GLUT.AVAILABLE) = "yes"
   rule FrameWorkDemo
   {
     Application $(<) : $(>) : noinstall console nomanifest ;
-    LinkWith $(<) :  GIMPACTUtils  GIMPACT  bulletopenglsupport bulletmultithreaded convexdecomposition convexhull  bulletdynamics bulletcollision bulletmath glui ;
+    LinkWith $(<) :  GIMPACTUtils  GIMPACT  bulletopenglsupport  convexdecomposition   bulletdynamics bulletcollision bulletmath glui ;
     CFlags $(<) :
           [ FIncludes $(TOP)/Extras ]
          [ FIncludes $(TOP)/Demos/OpenGL ]
@@ -80,6 +80,7 @@ SubInclude TOP Demos GimpactTestDemo ;
 SubInclude TOP Demos MovingConcaveDemo ;
 SubInclude TOP Demos ConcaveDemo ;
 SubInclude TOP Demos ConstraintDemo ;
+SubInclude TOP Demos SliderConstraintDemo ;
 SubInclude TOP Demos RagdollDemo ;
 SubInclude TOP Demos GenericJointDemo ;
 SubInclude TOP Demos SoftDemo ;
diff --git a/Demos/MovingConcaveDemo/CMakeLists.txt b/Demos/MovingConcaveDemo/CMakeLists.txt
index 7bae10fd0..7c85b6d6c 100644
--- a/Demos/MovingConcaveDemo/CMakeLists.txt
+++ b/Demos/MovingConcaveDemo/CMakeLists.txt
@@ -52,7 +52,7 @@ ${BULLET_PHYSICS_SOURCE_DIR}/Extras/GIMPACT/include ${BULLET_PHYSICS_SOURCE_DIR}
 )
 
 LINK_LIBRARIES(
-LibGIMPACT LibOpenGLSupport LibConvexHull LibBulletDynamics  LibBulletCollision LibLinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+LibGIMPACT LibOpenGLSupport  LibBulletDynamics  LibBulletCollision LibLinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
 )
 
 ADD_EXECUTABLE(MovingConcaveDemo
diff --git a/Demos/MultiThreadedDemo/CMakeLists.txt b/Demos/MultiThreadedDemo/CMakeLists.txt
index cc2a56f87..c96c18471 100644
--- a/Demos/MultiThreadedDemo/CMakeLists.txt
+++ b/Demos/MultiThreadedDemo/CMakeLists.txt
@@ -53,7 +53,7 @@ ${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL }
 )
 
 LINK_LIBRARIES(
-LibOpenGLSupport LibConvexHull  LibBulletMultiThreaded LibBulletDynamics  LibBulletCollision LibLinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+LibOpenGLSupport   LibBulletMultiThreaded LibBulletDynamics  LibBulletCollision LibLinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
 )
 
 ADD_EXECUTABLE(MultiThreadedDemo
diff --git a/Demos/MultiThreadedDemo/Jamfile b/Demos/MultiThreadedDemo/Jamfile
index 389d4b854..677292f50 100644
--- a/Demos/MultiThreadedDemo/Jamfile
+++ b/Demos/MultiThreadedDemo/Jamfile
@@ -1,3 +1,27 @@
 SubDir TOP Demos MultiThreadedDemo ;
 
-FrameWorkDemo MultiThreadedDemo : [ Wildcard *.h *.cpp  ] ;
+#some demos need extra functionality, Collada / ConvexDecomposition etc.
+
+  rule ExtraDemo4
+
+  {
+    Application $(<) : $(>) : noinstall console nomanifest ;
+    LinkWith $(<) :  bulletopenglsupport bulletmultithreaded bulletdynamics bulletcollision  bulletmath ;
+    CFlags $(<) :
+          [ FIncludes $(TOP)/Demos/OpenGL ]
+				[ FIncludes $(TOP)/Extras/BulletMultiThreaded ]
+                        
+    ;
+
+    MsvcIncDirs $(<) :
+        "../../Demos/OpenGL"
+	"../../Extras/BulletColladaConverter"
+        "../../Extras/COLLADA_DOM/include"
+        "../../Extras/COLLADA_DOM/include/1.4"
+        "../../Extras/LibXML"
+        "../../Extras/LibXML/include"   ;
+  }
+
+ExtraDemo4 MultiThreadedDemo : [ Wildcard *.h *.cpp  ] ;
+
+MsvcIncDirs MultiThreadedDemo : "../../Extras/BulletMultiThreaded" ;
diff --git a/Demos/OpenGL/GL_ShapeDrawer.cpp b/Demos/OpenGL/GL_ShapeDrawer.cpp
index b44d640d7..64fc69367 100644
--- a/Demos/OpenGL/GL_ShapeDrawer.cpp
+++ b/Demos/OpenGL/GL_ShapeDrawer.cpp
@@ -41,7 +41,7 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionShapes/btUniformScalingShape.h"
 #include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
 ///
-#include "btShapeHull.h"
+#include "BulletCollision/CollisionShapes/btShapeHull.h"
 
 #include "LinearMath/btTransformUtil.h"
 
diff --git a/Demos/OpenGL/Jamfile b/Demos/OpenGL/Jamfile
index 5290dff04..4efdf5974 100644
--- a/Demos/OpenGL/Jamfile
+++ b/Demos/OpenGL/Jamfile
@@ -9,18 +9,11 @@ if $(GLUT.AVAILABLE) = "yes"
   [ Wildcard *.h *.cpp ] : noinstall 
 ;
 
-CFlags bulletopenglsupport : [ FIncludes $(TOP)/Extras/ConvexHull ]
-;
 
-  MsvcIncDirs bulletopenglsupport :
-        "../../Extras/ConvexHull" ;
         
-bulletopenglsupport.CFLAGS = [ FIncludes $(TOP)/Extras/ConvexHull ] ;
-#same for msvcgen
-MsvcGenConfig bulletopenglsupport.INCDIRS : $(TOP)/Extras/ConvexHull ;
 
 
-LibDepends bulletopenglsupport : bulletdynamics convexhull  ;
+LibDepends bulletopenglsupport : bulletdynamics   ;
 
   ExternalLibs bulletopenglsupport : GLUT ;
 }
diff --git a/Demos/RagdollDemo/CMakeLists.txt b/Demos/RagdollDemo/CMakeLists.txt
index 5bded436d..02c9188aa 100644
--- a/Demos/RagdollDemo/CMakeLists.txt
+++ b/Demos/RagdollDemo/CMakeLists.txt
@@ -52,7 +52,7 @@ ${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL }
 )
 
 LINK_LIBRARIES(
-LibOpenGLSupport LibConvexHull LibBulletDynamics  LibBulletCollision LibLinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+LibOpenGLSupport  LibBulletDynamics  LibBulletCollision LibLinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
 )
 
 ADD_EXECUTABLE(RagdollDemo
diff --git a/Demos/SoftDemo/CMakeLists.txt b/Demos/SoftDemo/CMakeLists.txt
index 057efd85e..e01d308b3 100644
--- a/Demos/SoftDemo/CMakeLists.txt
+++ b/Demos/SoftDemo/CMakeLists.txt
@@ -52,14 +52,11 @@ ${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL }
 )
 
 LINK_LIBRARIES(
-LibOpenGLSupport LibConvexHull  LibBulletDynamics  LibBulletCollision LibLinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+LibOpenGLSupport  LibBulletDynamics  LibBulletCollision LibLinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
 )
 
 ADD_EXECUTABLE(SoftBodyDemo
 	main.cpp
-	btSoftBodyRigidBodyCollisionConfiguration.cpp
-	btSoftRigidCollisionAlgorithm.cpp
-	btSoftSoftCollisionAlgorithm.cpp
 	SoftDemo.cpp
 )
 
diff --git a/Demos/UserCollisionAlgorithm/CMakeLists.txt b/Demos/UserCollisionAlgorithm/CMakeLists.txt
index d6fc9fc4c..f0db6ea20 100644
--- a/Demos/UserCollisionAlgorithm/CMakeLists.txt
+++ b/Demos/UserCollisionAlgorithm/CMakeLists.txt
@@ -52,7 +52,7 @@ ${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL  }
 )
 
 LINK_LIBRARIES(
- LibOpenGLSupport LibConvexHull  LibBulletDynamics  LibBulletCollision LibLinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+ LibOpenGLSupport   LibBulletDynamics  LibBulletCollision LibLinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
 )
 
 ADD_EXECUTABLE(UserCollisionAlgorithm
diff --git a/Demos/VehicleDemo/CMakeLists.txt b/Demos/VehicleDemo/CMakeLists.txt
index 2147b1889..fae6839b0 100644
--- a/Demos/VehicleDemo/CMakeLists.txt
+++ b/Demos/VehicleDemo/CMakeLists.txt
@@ -52,7 +52,7 @@ ${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL }
 )
 
 LINK_LIBRARIES(
- LibOpenGLSupport LibConvexHull LibBulletDynamics LibBulletCollision LibLinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+ LibOpenGLSupport  LibBulletDynamics LibBulletCollision LibLinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
 )
 
 ADD_EXECUTABLE(VehicleDemo
diff --git a/src/BulletCollision/CMakeLists.txt b/src/BulletCollision/CMakeLists.txt
index 526290ec3..1051756b3 100644
--- a/src/BulletCollision/CMakeLists.txt
+++ b/src/BulletCollision/CMakeLists.txt
@@ -95,6 +95,8 @@ ADD_LIBRARY(LibBulletCollision
 				CollisionShapes/btTetrahedronShape.h
 				CollisionShapes/btSphereShape.cpp
 				CollisionShapes/btSphereShape.h
+				CollisionShapes/btShapeHull.h
+				CollisionShapes/btShapeHull.cpp
 				CollisionShapes/btStaticPlaneShape.cpp
 				CollisionShapes/btStaticPlaneShape.h
 				CollisionShapes/btStridingMeshInterface.cpp
diff --git a/src/BulletCollision/CollisionShapes/btShapeHull.cpp b/src/BulletCollision/CollisionShapes/btShapeHull.cpp
index 4e33d242b..4e2db5f55 100644
--- a/src/BulletCollision/CollisionShapes/btShapeHull.cpp
+++ b/src/BulletCollision/CollisionShapes/btShapeHull.cpp
@@ -16,7 +16,7 @@ subject to the following restrictions:
 */
 
 #include "btShapeHull.h"
-#include "btConvexHull.h"
+#include "LinearMath/btConvexHull.h"
 
 #define NUM_UNITSPHERE_POINTS 42
 
diff --git a/src/BulletDynamics/CMakeLists.txt b/src/BulletDynamics/CMakeLists.txt
index 6d2f49781..a32bb8270 100644
--- a/src/BulletDynamics/CMakeLists.txt
+++ b/src/BulletDynamics/CMakeLists.txt
@@ -16,6 +16,8 @@ ADD_LIBRARY(LibBulletDynamics
 	ConstraintSolver/btPoint2PointConstraint.h
 	ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
 	ConstraintSolver/btSequentialImpulseConstraintSolver.h
+	ConstraintSolver/btSliderConstraint.cpp
+	ConstraintSolver/btSliderConstraint.h
 	ConstraintSolver/btSolve2LinearConstraint.cpp
 	ConstraintSolver/btSolve2LinearConstraint.h
 	ConstraintSolver/btTypedConstraint.cpp
@@ -48,4 +50,14 @@ ADD_LIBRARY(LibBulletDynamics
 	SoftBody/btSoftBody.h
 	SoftBody/btSoftBodyHelpers.cpp
 	SoftBody/btSparseSDF.h
+	SoftBody/btDbvt.cpp  
+	SoftBody/btDbvt.h
+	SoftBody/btSoftBodyHelpers.h
+	SoftBody/btSoftBodyRigidBodyCollisionConfiguration.cpp
+	SoftBody/btSoftRigidCollisionAlgorithm.cpp
+	SoftBody/btSoftRigidCollisionAlgorithm.h
+	SoftBody/btSoftSoftCollisionAlgorithm.cpp
+	SoftBody/btSoftSoftCollisionAlgorithm.h
+	SoftBody/btSoftRigidDynamicsWorld.h
+	SoftBody/btSoftRigidDynamicsWorld.cpp
 )
diff --git a/src/BulletDynamics/SoftBody/btDbvt.cpp b/src/BulletDynamics/SoftBody/btDbvt.cpp
index 186693f2d..c46c5f955 100644
--- a/src/BulletDynamics/SoftBody/btDbvt.cpp
+++ b/src/BulletDynamics/SoftBody/btDbvt.cpp
@@ -1,536 +1,532 @@
-#include "btDbvt.h"
-
-#include <stdio.h>
-
-namespace btdbvt_internals
-{
-
-//
-typedef btAlignedObjectArray<btDbvt::Node*>	tNodeArray;
-
-//
-static inline int				indexof(const btDbvt::Node* node)
-{
-return(node->parent->childs[1]==node);
-}
-
-//
-static inline btDbvt::Aabb		merge(		const btDbvt::Aabb& a,
-											const btDbvt::Aabb& b)
-{
-btDbvt::Aabb	res;
-Merge(a,b,res);
-return(res);
-}
-
-
-// volume+edge lengths
-static inline btScalar			size(const btDbvt::Aabb& a)
-{
-const btVector3	edges=a.Lengths();
-return(	edges.x()*edges.y()*edges.z()+
-		edges.x()+edges.y()+edges.z());
-}
-
-//
-static inline void				deletenode(	btDbvt* pdbvt,
-											btDbvt::Node* node)
-{
-delete pdbvt->m_free;
-pdbvt->m_free=node;
-}
-	
-//
-static inline void				recursedeletenode(	btDbvt* pdbvt,
-													btDbvt::Node* node)
-{
-if(!node->isleaf())
-	{
-	recursedeletenode(pdbvt,node->childs[0]);
-	recursedeletenode(pdbvt,node->childs[1]);
-	}
-if(node==pdbvt->m_root) pdbvt->m_root=0;
-deletenode(pdbvt,node);
-}
-
-//
-static inline btDbvt::Node*		createnode(	btDbvt* pdbvt,
-											btDbvt::Node* parent,
-											const btDbvt::Aabb& box,
-											void* data)
-{
-btDbvt::Node*	node;
-if(pdbvt->m_free)
-	{ node=pdbvt->m_free;pdbvt->m_free=0; }
-	else
-	{ node=new btDbvt::Node(); }
-node->parent	=	parent;
-node->box		=	box;
-node->data		=	data;
-node->childs[1]	=	0;
-return(node);
-}
-
-//
-static inline void				insertleaf(	btDbvt* pdbvt,
-											btDbvt::Node* root,
-											btDbvt::Node* leaf)
-{
-if(!pdbvt->m_root)
-	{
-	pdbvt->m_root	=	leaf;
-	leaf->parent	=	0;
-	}
-	else
-	{
-	if(!root->isleaf())
-		{
-		do	{
-			if(	Proximity(root->childs[0]->box,leaf->box)<
-				Proximity(root->childs[1]->box,leaf->box))
-				root=root->childs[0];
-				else
-				root=root->childs[1];
-			} while(!root->isleaf());
-		}
-	btDbvt::Node*	prev=root->parent;
-	btDbvt::Node*	node=createnode(pdbvt,prev,merge(leaf->box,root->box),0);
-	if(prev)
-		{
-		prev->childs[indexof(root)]	=	node;
-		node->childs[0]				=	root;root->parent=node;
-		node->childs[1]				=	leaf;leaf->parent=node;
-		do	{
-			if(prev->box.Contain(node->box))
-				break;
-				else
-				Merge(prev->childs[0]->box,prev->childs[1]->box,prev->box);
-			node=prev;
-			} while(0!=(prev=node->parent));
-		}
-		else
-		{
-		node->childs[0]	=	root;root->parent=node;
-		node->childs[1]	=	leaf;leaf->parent=node;
-		pdbvt->m_root	=	node;
-		}
-	}
-}
-	
-//
-static inline btDbvt::Node*		removeleaf(	btDbvt* pdbvt,
-											btDbvt::Node* leaf)
-{
-if(leaf==pdbvt->m_root)
-	{
-	pdbvt->m_root=0;
-	return(0);
-	}
-	else
-	{
-	btDbvt::Node*	parent=leaf->parent;
-	btDbvt::Node*	prev=parent->parent;
-	btDbvt::Node*	sibling=parent->childs[1-indexof(leaf)];			
-	if(prev)
-		{
-		prev->childs[indexof(parent)]=sibling;
-		sibling->parent=prev;
-		deletenode(pdbvt,parent);
-		while(prev)
-			{
-			const btDbvt::Aabb	pb=prev->box;
-			Merge(prev->childs[0]->box,prev->childs[1]->box,prev->box);
-			if(NotEqual(pb,prev->box))
-				{
-				sibling		=	prev;
-				prev		=	prev->parent;
-				} else break;
-			}
-		return(prev?prev:pdbvt->m_root);
-		}
-		else
-		{								
-		pdbvt->m_root=sibling;
-		sibling->parent=0;
-		deletenode(pdbvt,parent);
-		return(pdbvt->m_root);
-		}			
-	}
-}
-
-//
-static void						fetchleafs(	btDbvt* pdbvt,
-											btDbvt::Node* root,
-											tNodeArray& leafs,
-											int depth=-1)
-{
-if(root->isinternal()&&depth)
-	{
-	fetchleafs(pdbvt,root->childs[0],leafs,depth-1);
-	fetchleafs(pdbvt,root->childs[1],leafs,depth-1);
-	deletenode(pdbvt,root);
-	}
-	else
-	{
-	leafs.push_back(root);
-	}
-}
-
-//
-static int						leafcount(btDbvt::Node* root)
-{
-if(root->isinternal())
-	{
-	return(	leafcount(root->childs[0])+
-			leafcount(root->childs[1]));
-	}
-return(1);
-}
-
-//
-static void						split(	const tNodeArray& leafs,
-										tNodeArray& left,
-										tNodeArray& right,
-										const btVector3& org,
-										const btVector3& axis)
-{
-left.resize(0);
-right.resize(0);
-for(int i=0,ni=leafs.size();i<ni;++i)
-	{
-	if(dot(axis,leafs[i]->box.Center()-org)<0)
-		left.push_back(leafs[i]);
-		else
-		right.push_back(leafs[i]);
-	}
-}
-
-//
-static btDbvt::Aabb				bounds(	const tNodeArray& leafs)
-{
-btDbvt::Aabb	box=leafs[0]->box;
-for(int i=1,ni=leafs.size();i<ni;++i)
-	{
-	box=merge(box,leafs[i]->box);
-	}
-return(box);
-}
-
-//
-static void						bottomup(	btDbvt* pdbvt,
-											tNodeArray& leafs)
-{
-while(leafs.size()>1)
-	{
-	btScalar	minsize=SIMD_INFINITY;
-	int			minidx[2]={-1,-1};
-	for(int i=0;i<leafs.size();++i)
-		{
-		for(int j=i+1;j<leafs.size();++j)
-			{
-			const btScalar	sz=size(merge(leafs[i]->box,leafs[j]->box));
-			if(sz<minsize)
-				{
-				minsize		=	sz;
-				minidx[0]	=	i;
-				minidx[1]	=	j;
-				}
-			}
-		}
-	btDbvt::Node*	n[]	=	{leafs[minidx[0]],leafs[minidx[1]]};
-	btDbvt::Node*	p	=	createnode(pdbvt,0,merge(n[0]->box,n[1]->box),0);
-	p->childs[0]		=	n[0];
-	p->childs[1]		=	n[1];
-	n[0]->parent		=	p;
-	n[1]->parent		=	p;
-	leafs[minidx[0]]	=	p;
-	leafs.swap(minidx[1],leafs.size()-1);
-	leafs.pop_back();
-	}
-}
-
-//
-static btDbvt::Node*			topdown(btDbvt* pdbvt,
-										tNodeArray& leafs,
-										int bu_treshold)
-{
-static const btVector3	axis[]={btVector3(1,0,0),
-								btVector3(0,1,0),
-								btVector3(0,0,1)};
-if(leafs.size()>1)
-	{
-	if(leafs.size()>bu_treshold)
-		{
-		const btDbvt::Aabb	box=bounds(leafs);
-		const btVector3		org=box.Center();
-		tNodeArray			sets[2];
-		int					bestaxis=-1;
-		int					bestmidp=leafs.size();
-		sets[0].reserve(leafs.size());
-		sets[1].reserve(leafs.size());
-		for(int i=0;i<3;++i)
-			{
-			split(leafs,sets[0],sets[1],org,axis[i]);
-			if((sets[0].size()>0)&&(sets[1].size()>0))
-				{
-				const int	midp=abs(sets[0].size()-sets[1].size());
-				if(midp<bestmidp)
-					{
-					bestaxis=i;
-					bestmidp=midp;
-					}
-				}
-			}
-		if(bestaxis>=0)
-			{
-			split(leafs,sets[0],sets[1],org,axis[bestaxis]);
-			}
-			else
-			{
-			sets[0].resize(0);
-			sets[1].resize(0);
-			for(int i=0,ni=leafs.size();i<ni;++i)
-				{
-				sets[i&1].push_back(leafs[i]);
-				}
-			}
-		btDbvt::Node*	node=createnode(pdbvt,0,box,0);
-		node->childs[0]=topdown(pdbvt,sets[0],bu_treshold);
-		node->childs[1]=topdown(pdbvt,sets[1],bu_treshold);
-		node->childs[0]->parent=node;
-		node->childs[1]->parent=node;
-		return(node);
-		}
-		else
-		{
-		bottomup(pdbvt,leafs);
-		return(leafs[0]);
-		}
-	}
-return(leafs[0]);
-}
-
-//
-static inline btDbvt::Node*		refit(	btDbvt* pdbvt,
-										btDbvt::Node* node)
-{
-btDbvt::Node*	parent=node->parent;
-if(parent)
-	{
-	const int		idx=indexof(node);
-	tNodeArray		leafs;
-	leafs.reserve(64);
-	fetchleafs(pdbvt,node,leafs,3);
-	if(leafs.size()>=2)
-		{
-		bottomup(pdbvt,leafs);
-		node=leafs[0];
-		node->parent=parent;
-		parent->childs[idx]=node;
-		}
-	}
-return(node);
-}
-										
-
-}
-
-using namespace btdbvt_internals;
-
-//
-// Api
-//
-
-//
-				btDbvt::btDbvt()
-{
-m_root	=	0;
-m_free	=	0;
-m_lkhd	=	2;
-}
-
-//
-				btDbvt::~btDbvt()
-{
-clear();
-}
-
-//
-void			btDbvt::clear()
-{
-if(m_root)	recursedeletenode(this,m_root);
-delete m_free;
-m_free=0;
-}
-
-//
-int				btDbvt::leafCount() const
-{
-if(m_root)	return(leafcount(m_root));
-			else
-			return(0);
-}
-
-//
-void			btDbvt::optimizeBottomUp()
-{
-if(m_root)
-	{
-	tNodeArray leafs;
-	leafs.reserve(leafCount());
-	fetchleafs(this,m_root,leafs);
-	bottomup(this,leafs);
-	m_root=leafs[0];
-	}
-}
-
-//
-void			btDbvt::optimizeTopDown(int bu_treshold)
-{
-if(m_root)
-	{
-	tNodeArray	leafs;
-	leafs.reserve(leafCount());
-	fetchleafs(this,m_root,leafs);
-	m_root=topdown(this,leafs,bu_treshold);
-	}
-}
-
-//
-btDbvt::Node*	btDbvt::insert(const Aabb& box,void* data)
-{
-Node*	leaf=createnode(this,0,box,data);
-insertleaf(this,m_root,leaf);
-return(leaf);
-}
-
-//
-void			btDbvt::update(Node* leaf,const Aabb& box)
-{
-Node*	root=removeleaf(this,leaf);
-if(root)
-	{
-	for(int i=0;(i<m_lkhd)&&root->parent;++i)
-		{
-		root=root->parent;
-		}
-	}
-leaf->box=box;
-insertleaf(this,root,leaf);
-}
-
-//
-bool			btDbvt::update(Node* leaf,Aabb box,const btVector3& velocity,btScalar margin)
-{
-if(leaf->box.Contain(box)) return(false);
-if(margin>0)
-	box.Expand(btVector3(margin,margin,margin));
-if(velocity.length2()>0)
-	box.SignedExpand(velocity);
-update(leaf,box);
-return(true);
-}
-
-//
-void			btDbvt::remove(Node* leaf)
-{
-removeleaf(this,leaf);
-deletenode(this,leaf);
-}
-
-//
-void			btDbvt::collide(btDbvt* tree,
-								ICollide* icollide) const
-{
-if(tree->m_root&&m_root)
-	{
-	struct	sStkElm
-		{
-		const Node*	a;
-		const Node*	b;
-		sStkElm(const Node* na,const Node* nb) : a(na),b(nb) {}
-		};
-	btAlignedObjectArray<sStkElm>	stack;
-	stack.reserve(128);
-	stack.push_back(sStkElm(m_root,tree->m_root));
-	do	{
-		sStkElm	p=stack[stack.size()-1];
-		stack.pop_back();
-		if(p.a==p.b)
-			{
-			if(p.a->isinternal())
-				{
-				stack.push_back(sStkElm(p.a->childs[0],p.a->childs[0]));
-				stack.push_back(sStkElm(p.a->childs[1],p.a->childs[1]));
-				stack.push_back(sStkElm(p.a->childs[0],p.a->childs[1]));
-				}
-			}
-		else if(Intersect(p.a->box,p.b->box))
-			{
-			if(p.a->isinternal())
-				{
-				if(p.b->isinternal())
-					{
-					stack.push_back(sStkElm(p.a->childs[0],p.b->childs[0]));
-					stack.push_back(sStkElm(p.a->childs[1],p.b->childs[0]));
-					stack.push_back(sStkElm(p.a->childs[0],p.b->childs[1]));
-					stack.push_back(sStkElm(p.a->childs[1],p.b->childs[1]));
-					}
-					else
-					{
-					stack.push_back(sStkElm(p.a->childs[0],p.b));
-					stack.push_back(sStkElm(p.a->childs[1],p.b));
-					}
-				}
-				else
-				{
-				if(p.b->isinternal())
-					{
-					stack.push_back(sStkElm(p.a,p.b->childs[0]));
-					stack.push_back(sStkElm(p.a,p.b->childs[1]));
-					}
-					else
-					{
-					icollide->Process(p.a,p.b);
-					}
-				}
-			}
-		} while(stack.size()>0);
-	}
-}
-							
-//
-void			btDbvt::collide(const Aabb& box,
-								ICollide* icollide) const
-{
-if(m_root)
-	{
-	btAlignedObjectArray<const Node*>	stack;
-	stack.reserve(64);
-	stack.push_back(m_root);
-	do	{
-		const Node*	n=stack[stack.size()-1];
-		stack.pop_back();
-		if(Intersect(n->box,box))
-			{
-			if(n->isinternal())
-				{
-				stack.push_back(n->childs[0]);
-				stack.push_back(n->childs[1]);
-				}
-				else
-				{
-				icollide->Process(n);
-				}
-			}
-		} while(stack.size()>0);
-	}
-}
-							
-//
-void			btDbvt::collide(const btVector3& org,
-								const btVector3& dir,
-								ICollide* icollide) const
-{
-/* not implemented	*/ 
-}
+#include "btDbvt.h"
+
+#include <stdio.h>
+
+namespace btdbvt_internals
+{
+
+//
+typedef btAlignedObjectArray<btDbvt::Node*>	tNodeArray;
+
+//
+static inline int				indexof(const btDbvt::Node* node)
+{
+return(node->parent->childs[1]==node);
+}
+
+//
+static inline btDbvt::Aabb		merge(		const btDbvt::Aabb& a,
+											const btDbvt::Aabb& b)
+{
+btDbvt::Aabb	res;
+Merge(a,b,res);
+return(res);
+}
+
+
+// volume+edge lengths
+static inline btScalar			size(const btDbvt::Aabb& a)
+{
+const btVector3	edges=a.Lengths();
+return(	edges.x()*edges.y()*edges.z()+
+		edges.x()+edges.y()+edges.z());
+}
+
+//
+static inline void				deletenode(	btDbvt* pdbvt,
+											btDbvt::Node* node)
+{
+delete pdbvt->m_free;
+pdbvt->m_free=node;
+}
+	
+//
+static inline void				recursedeletenode(	btDbvt* pdbvt,
+													btDbvt::Node* node)
+{
+if(!node->isleaf())
+	{
+	recursedeletenode(pdbvt,node->childs[0]);
+	recursedeletenode(pdbvt,node->childs[1]);
+	}
+if(node==pdbvt->m_root) pdbvt->m_root=0;
+deletenode(pdbvt,node);
+}
+
+//
+static inline btDbvt::Node*		createnode(	btDbvt* pdbvt,
+											btDbvt::Node* parent,
+											const btDbvt::Aabb& box,
+											void* data)
+{
+btDbvt::Node*	node;
+if(pdbvt->m_free)
+	{ node=pdbvt->m_free;pdbvt->m_free=0; }
+	else
+	{ node=new btDbvt::Node(); }
+node->parent	=	parent;
+node->box		=	box;
+node->data		=	data;
+node->childs[1]	=	0;
+return(node);
+}
+
+//
+static inline void				insertleaf(	btDbvt* pdbvt,
+											btDbvt::Node* root,
+											btDbvt::Node* leaf)
+{
+if(!pdbvt->m_root)
+	{
+	pdbvt->m_root	=	leaf;
+	leaf->parent	=	0;
+	}
+	else
+	{
+	if(!root->isleaf())
+		{
+		do	{
+			if(	Proximity(root->childs[0]->box,leaf->box)<
+				Proximity(root->childs[1]->box,leaf->box))
+				root=root->childs[0];
+				else
+				root=root->childs[1];
+			} while(!root->isleaf());
+		}
+	btDbvt::Node*	prev=root->parent;
+	btDbvt::Node*	node=createnode(pdbvt,prev,merge(leaf->box,root->box),0);
+	if(prev)
+		{
+		prev->childs[indexof(root)]	=	node;
+		node->childs[0]				=	root;root->parent=node;
+		node->childs[1]				=	leaf;leaf->parent=node;
+		do	{
+			if(prev->box.Contain(node->box))
+				break;
+				else
+				Merge(prev->childs[0]->box,prev->childs[1]->box,prev->box);
+			node=prev;
+			} while(0!=(prev=node->parent));
+		}
+		else
+		{
+		node->childs[0]	=	root;root->parent=node;
+		node->childs[1]	=	leaf;leaf->parent=node;
+		pdbvt->m_root	=	node;
+		}
+	}
+}
+	
+//
+static inline btDbvt::Node*		removeleaf(	btDbvt* pdbvt,
+											btDbvt::Node* leaf)
+{
+if(leaf==pdbvt->m_root)
+	{
+	pdbvt->m_root=0;
+	return(0);
+	}
+	else
+	{
+	btDbvt::Node*	parent=leaf->parent;
+	btDbvt::Node*	prev=parent->parent;
+	btDbvt::Node*	sibling=parent->childs[1-indexof(leaf)];			
+	if(prev)
+		{
+		prev->childs[indexof(parent)]=sibling;
+		sibling->parent=prev;
+		deletenode(pdbvt,parent);
+		while(prev)
+			{
+			const btDbvt::Aabb	pb=prev->box;
+			Merge(prev->childs[0]->box,prev->childs[1]->box,prev->box);
+			if(NotEqual(pb,prev->box))
+				{
+				sibling		=	prev;
+				prev		=	prev->parent;
+				} else break;
+			}
+		return(prev?prev:pdbvt->m_root);
+		}
+		else
+		{								
+		pdbvt->m_root=sibling;
+		sibling->parent=0;
+		deletenode(pdbvt,parent);
+		return(pdbvt->m_root);
+		}			
+	}
+}
+
+//
+static void						fetchleafs(	btDbvt* pdbvt,
+											btDbvt::Node* root,
+											tNodeArray& leafs,
+											int depth=-1)
+{
+if(root->isinternal()&&depth)
+	{
+	fetchleafs(pdbvt,root->childs[0],leafs,depth-1);
+	fetchleafs(pdbvt,root->childs[1],leafs,depth-1);
+	deletenode(pdbvt,root);
+	}
+	else
+	{
+	leafs.push_back(root);
+	}
+}
+
+//
+static int						leafcount(btDbvt::Node* root)
+{
+if(root->isinternal())
+	{
+	return(	leafcount(root->childs[0])+
+			leafcount(root->childs[1]));
+	}
+return(1);
+}
+
+//
+static void						split(	const tNodeArray& leafs,
+										tNodeArray& left,
+										tNodeArray& right,
+										const btVector3& org,
+										const btVector3& axis)
+{
+left.resize(0);
+right.resize(0);
+for(int i=0,ni=leafs.size();i<ni;++i)
+	{
+	if(dot(axis,leafs[i]->box.Center()-org)<0)
+		left.push_back(leafs[i]);
+		else
+		right.push_back(leafs[i]);
+	}
+}
+
+//
+static btDbvt::Aabb				bounds(	const tNodeArray& leafs)
+{
+btDbvt::Aabb	box=leafs[0]->box;
+for(int i=1,ni=leafs.size();i<ni;++i)
+	{
+	box=merge(box,leafs[i]->box);
+	}
+return(box);
+}
+
+//
+static void						bottomup(	btDbvt* pdbvt,
+											tNodeArray& leafs)
+{
+while(leafs.size()>1)
+	{
+	btScalar	minsize=SIMD_INFINITY;
+	int			minidx[2]={-1,-1};
+	for(int i=0;i<leafs.size();++i)
+		{
+		for(int j=i+1;j<leafs.size();++j)
+			{
+			const btScalar	sz=size(merge(leafs[i]->box,leafs[j]->box));
+			if(sz<minsize)
+				{
+				minsize		=	sz;
+				minidx[0]	=	i;
+				minidx[1]	=	j;
+				}
+			}
+		}
+	btDbvt::Node*	n[]	=	{leafs[minidx[0]],leafs[minidx[1]]};
+	btDbvt::Node*	p	=	createnode(pdbvt,0,merge(n[0]->box,n[1]->box),0);
+	p->childs[0]		=	n[0];
+	p->childs[1]		=	n[1];
+	n[0]->parent		=	p;
+	n[1]->parent		=	p;
+	leafs[minidx[0]]	=	p;
+	leafs.swap(minidx[1],leafs.size()-1);
+	leafs.pop_back();
+	}
+}
+
+//
+static btDbvt::Node*			topdown(btDbvt* pdbvt,
+										tNodeArray& leafs,
+										int bu_treshold)
+{
+static const btVector3	axis[]={btVector3(1,0,0),
+								btVector3(0,1,0),
+								btVector3(0,0,1)};
+if(leafs.size()>1)
+	{
+	if(leafs.size()>bu_treshold)
+		{
+		const btDbvt::Aabb	box=bounds(leafs);
+		const btVector3		org=box.Center();
+		tNodeArray			sets[2];
+		int					bestaxis=-1;
+		int					bestmidp=leafs.size();
+		sets[0].reserve(leafs.size());
+		sets[1].reserve(leafs.size());
+		for(int i=0;i<3;++i)
+			{
+			split(leafs,sets[0],sets[1],org,axis[i]);
+			if((sets[0].size()>0)&&(sets[1].size()>0))
+				{
+				const int	midp=abs(sets[0].size()-sets[1].size());
+				if(midp<bestmidp)
+					{
+					bestaxis=i;
+					bestmidp=midp;
+					}
+				}
+			}
+		if(bestaxis>=0)
+			{
+			split(leafs,sets[0],sets[1],org,axis[bestaxis]);
+			}
+			else
+			{
+			sets[0].resize(0);
+			sets[1].resize(0);
+			for(int i=0,ni=leafs.size();i<ni;++i)
+				{
+				sets[i&1].push_back(leafs[i]);
+				}
+			}
+		btDbvt::Node*	node=createnode(pdbvt,0,box,0);
+		node->childs[0]=topdown(pdbvt,sets[0],bu_treshold);
+		node->childs[1]=topdown(pdbvt,sets[1],bu_treshold);
+		node->childs[0]->parent=node;
+		node->childs[1]->parent=node;
+		return(node);
+		}
+		else
+		{
+		bottomup(pdbvt,leafs);
+		return(leafs[0]);
+		}
+	}
+return(leafs[0]);
+}
+
+//
+static inline btDbvt::Node*		refit(	btDbvt* pdbvt,
+										btDbvt::Node* node)
+{
+btDbvt::Node*	parent=node->parent;
+if(parent)
+	{
+	const int		idx=indexof(node);
+	tNodeArray		leafs;
+	leafs.reserve(64);
+	fetchleafs(pdbvt,node,leafs,3);
+	if(leafs.size()>=2)
+		{
+		bottomup(pdbvt,leafs);
+		node=leafs[0];
+		node->parent=parent;
+		parent->childs[idx]=node;
+		}
+	}
+return(node);
+}
+										
+
+}
+
+using namespace btdbvt_internals;
+
+//
+// Api
+//
+
+//
+				btDbvt::btDbvt()
+{
+m_root	=	0;
+m_free	=	0;
+m_lkhd	=	2;
+}
+
+//
+				btDbvt::~btDbvt()
+{
+clear();
+}
+
+//
+void			btDbvt::clear()
+{
+if(m_root)	recursedeletenode(this,m_root);
+delete m_free;
+m_free=0;
+}
+
+//
+int				btDbvt::leafCount() const
+{
+if(m_root)	return(leafcount(m_root));
+			else
+			return(0);
+}
+
+//
+void			btDbvt::optimizeBottomUp()
+{
+if(m_root)
+	{
+	tNodeArray leafs;
+	leafs.reserve(leafCount());
+	fetchleafs(this,m_root,leafs);
+	bottomup(this,leafs);
+	m_root=leafs[0];
+	}
+}
+
+//
+void			btDbvt::optimizeTopDown(int bu_treshold)
+{
+if(m_root)
+	{
+	tNodeArray	leafs;
+	leafs.reserve(leafCount());
+	fetchleafs(this,m_root,leafs);
+	m_root=topdown(this,leafs,bu_treshold);
+	}
+}
+
+//
+btDbvt::Node*	btDbvt::insert(const Aabb& box,void* data)
+{
+Node*	leaf=createnode(this,0,box,data);
+insertleaf(this,m_root,leaf);
+return(leaf);
+}
+
+//
+void			btDbvt::update(Node* leaf,const Aabb& box)
+{
+Node*	root=removeleaf(this,leaf);
+if(root)
+	{
+	for(int i=0;(i<m_lkhd)&&root->parent;++i)
+		{
+		root=root->parent;
+		}
+	}
+leaf->box=box;
+insertleaf(this,root,leaf);
+}
+
+//
+bool			btDbvt::update(Node* leaf,Aabb box,const btVector3& velocity,btScalar margin)
+{
+if(leaf->box.Contain(box)) return(false);
+if(margin>0)
+	box.Expand(btVector3(margin,margin,margin));
+if(velocity.length2()>0)
+	box.SignedExpand(velocity);
+update(leaf,box);
+return(true);
+}
+
+//
+void			btDbvt::remove(Node* leaf)
+{
+removeleaf(this,leaf);
+deletenode(this,leaf);
+}
+
+
+//
+void			btDbvt::collide(btDbvt* tree,
+								ICollide* icollide) const
+{
+if(tree->m_root&&m_root)
+	{
+	
+	btAlignedObjectArray<sStkElm>	stack;
+	stack.reserve(128);
+	stack.push_back(sStkElm(m_root,tree->m_root));
+	do	{
+		sStkElm	p=stack[stack.size()-1];
+		stack.pop_back();
+		if(p.a==p.b)
+			{
+			if(p.a->isinternal())
+				{
+				stack.push_back(sStkElm(p.a->childs[0],p.a->childs[0]));
+				stack.push_back(sStkElm(p.a->childs[1],p.a->childs[1]));
+				stack.push_back(sStkElm(p.a->childs[0],p.a->childs[1]));
+				}
+			}
+		else if(Intersect(p.a->box,p.b->box))
+			{
+			if(p.a->isinternal())
+				{
+				if(p.b->isinternal())
+					{
+					stack.push_back(sStkElm(p.a->childs[0],p.b->childs[0]));
+					stack.push_back(sStkElm(p.a->childs[1],p.b->childs[0]));
+					stack.push_back(sStkElm(p.a->childs[0],p.b->childs[1]));
+					stack.push_back(sStkElm(p.a->childs[1],p.b->childs[1]));
+					}
+					else
+					{
+					stack.push_back(sStkElm(p.a->childs[0],p.b));
+					stack.push_back(sStkElm(p.a->childs[1],p.b));
+					}
+				}
+				else
+				{
+				if(p.b->isinternal())
+					{
+					stack.push_back(sStkElm(p.a,p.b->childs[0]));
+					stack.push_back(sStkElm(p.a,p.b->childs[1]));
+					}
+					else
+					{
+					icollide->Process(p.a,p.b);
+					}
+				}
+			}
+		} while(stack.size()>0);
+	}
+}
+							
+//
+void			btDbvt::collide(const Aabb& box,
+								ICollide* icollide) const
+{
+if(m_root)
+	{
+	btAlignedObjectArray<const Node*>	stack;
+	stack.reserve(64);
+	stack.push_back(m_root);
+	do	{
+		const Node*	n=stack[stack.size()-1];
+		stack.pop_back();
+		if(Intersect(n->box,box))
+			{
+			if(n->isinternal())
+				{
+				stack.push_back(n->childs[0]);
+				stack.push_back(n->childs[1]);
+				}
+				else
+				{
+				icollide->Process(n);
+				}
+			}
+		} while(stack.size()>0);
+	}
+}
+							
+//
+void			btDbvt::collide(const btVector3& org,
+								const btVector3& dir,
+								ICollide* icollide) const
+{
+/* not implemented	*/ 
+}
diff --git a/src/BulletDynamics/SoftBody/btDbvt.h b/src/BulletDynamics/SoftBody/btDbvt.h
index c2d2c5630..02bd5f3b4 100644
--- a/src/BulletDynamics/SoftBody/btDbvt.h
+++ b/src/BulletDynamics/SoftBody/btDbvt.h
@@ -68,6 +68,13 @@ struct	btDbvt
 		};
 	// Interfaces
 	
+	struct	sStkElm
+		{
+		const Node*	a;
+		const Node*	b;
+		sStkElm(const Node* na,const Node* nb) : a(na),b(nb) {}
+		};
+		
 	/* ICollide	*/ 
 	struct	ICollide
 		{
diff --git a/src/LinearMath/CMakeLists.txt b/src/LinearMath/CMakeLists.txt
index 456c21ab1..02ffaad72 100644
--- a/src/LinearMath/CMakeLists.txt
+++ b/src/LinearMath/CMakeLists.txt
@@ -15,6 +15,8 @@ ADD_LIBRARY(LibLinearMath
 		btHashMap.h
 		btScalar.h
 		btAabbUtil2.h
+		btConvexHull.h
+		btConvexHull.cpp
 		btMinMax.h
 		btQuaternion.h
 		btStackAlloc.h