diff --git a/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp b/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
index dda85dc69..85a8a4e8f 100644
--- a/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
+++ b/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
@@ -96,20 +96,35 @@ void btConvexPlaneCollisionAlgorithm::processCollision (btCollisionObject* body0
 	if (!m_manifoldPtr)
 		return;
 
-    btCollisionObject* convexObj = m_isSwapped? body1 : body0;
+	btCollisionObject* convexObj = m_isSwapped? body1 : body0;
 	btCollisionObject* planeObj = m_isSwapped? body0: body1;
 
 	btConvexShape* convexShape = (btConvexShape*) convexObj->getCollisionShape();
 	btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObj->getCollisionShape();
 
-    
+	bool hasCollision = false;
 	const btVector3& planeNormal = planeShape->getPlaneNormal();
-	//const btScalar& planeConstant = planeShape->getPlaneConstant();
+	const btScalar& planeConstant = planeShape->getPlaneConstant();
+	btTransform planeInConvex;
+	planeInConvex= convexObj->getWorldTransform().inverse() * planeObj->getWorldTransform();
+	btTransform convexInPlaneTrans;
+	convexInPlaneTrans= planeObj->getWorldTransform().inverse() * convexObj->getWorldTransform();
 
-	//first perform a collision query with the non-perturbated collision objects
+	btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis()*-planeNormal);
+	btVector3 vtxInPlane = convexInPlaneTrans(vtx);
+	btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant);
+
+	btVector3 vtxInPlaneProjected = vtxInPlane - distance*planeNormal;
+	btVector3 vtxInPlaneWorld = planeObj->getWorldTransform() * vtxInPlaneProjected;
+
+	hasCollision = distance < m_manifoldPtr->getContactBreakingThreshold();
+	resultOut->setPersistentManifold(m_manifoldPtr);
+	if (hasCollision)
 	{
-		btQuaternion rotq(0,0,0,1);
-		collideSingleContact(rotq,body0,body1,dispatchInfo,resultOut);
+		/// report a contact. internally this will be kept persistent, and contact reduction is done
+		btVector3 normalOnSurfaceB = planeObj->getWorldTransform().getBasis() * planeNormal;
+		btVector3 pOnB = vtxInPlaneWorld;
+		resultOut->addContactPoint(normalOnSurfaceB,pOnB,distance);
 	}
 
 	if (resultOut->getPersistentManifold()->getNumContacts()<m_minimumPointsPerturbationThreshold)
diff --git a/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h b/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h
index a3d59f432..b9494f5ad 100644
--- a/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h
+++ b/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h
@@ -61,7 +61,7 @@ public:
 			
 		CreateFunc() 
 			: m_numPerturbationIterations(1),
-			m_minimumPointsPerturbationThreshold(1)
+			m_minimumPointsPerturbationThreshold(0)
 		{
 		}
 		
diff --git a/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp b/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
index df1fbe927..d59e54cd3 100644
--- a/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
+++ b/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
@@ -417,10 +417,10 @@ void	btPolyhedralConvexAabbCachingShape::recalcLocalAabb()
 		btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
 		vec[i] = btScalar(1.);
 		btVector3 tmp = localGetSupportingVertex(vec);
-		m_localAabbMax[i] = tmp[i]+m_collisionMargin;
+		m_localAabbMax[i] = tmp[i];
 		vec[i] = btScalar(-1.);
 		tmp = localGetSupportingVertex(vec);
-		m_localAabbMin[i] = tmp[i]-m_collisionMargin;
+		m_localAabbMin[i] = tmp[i];
 	}
 	#endif
 }