diff --git a/BulletDynamics/ConstraintSolver/HingeConstraint.cpp b/BulletDynamics/ConstraintSolver/HingeConstraint.cpp
index 2534ba73a..c1762c91d 100644
--- a/BulletDynamics/ConstraintSolver/HingeConstraint.cpp
+++ b/BulletDynamics/ConstraintSolver/HingeConstraint.cpp
@@ -94,7 +94,7 @@ void	HingeConstraint::BuildJacobian()
 
 void	HingeConstraint::SolveConstraint(SimdScalar	timeStep)
 {
-#define NEW_IMPLEMENTATION
+//#define NEW_IMPLEMENTATION
 
 #ifdef NEW_IMPLEMENTATION
 	SimdScalar tau = 0.3f;
@@ -164,8 +164,9 @@ void	HingeConstraint::SolveConstraint(SimdScalar	timeStep)
 	SimdScalar jacDiagABInv0 = 1.f / m_jacAng[0].getDiagonal();
 	SimdScalar rel_vel0 = m_jacAng[0].getRelativeVelocity(m_rbA.getLinearVelocity(),angvelA, 
 																	m_rbB.getLinearVelocity(),angvelB);
+	float tau1 = tau;//0.f;
 
-	SimdScalar impulse0 = (tau * axisB.dot(jointAxis1) / timeStep - damping * rel_vel0) * jacDiagABInv0;
+	SimdScalar impulse0 = (tau1 * axisB.dot(jointAxis1) / timeStep - damping * rel_vel0) * jacDiagABInv0;
 	SimdVector3 angular_impulse0 = jointAxis0 * impulse0;
 
 	m_rbA.applyTorqueImpulse( angular_impulse0);
@@ -181,7 +182,7 @@ void	HingeConstraint::SolveConstraint(SimdScalar	timeStep)
 	SimdScalar rel_vel1 = m_jacAng[1].getRelativeVelocity(m_rbA.getLinearVelocity(),angvelA, 
 																	m_rbB.getLinearVelocity(),angvelB);;
 
-	SimdScalar impulse1 = -(tau * axisB.dot(jointAxis0) / timeStep + damping * rel_vel1) * jacDiagABInv1;
+	SimdScalar impulse1 = -(tau1 * axisB.dot(jointAxis0) / timeStep + damping * rel_vel1) * jacDiagABInv1;
 	SimdVector3 angular_impulse1 = jointAxis1 * impulse1;
 
 	m_rbA.applyTorqueImpulse( angular_impulse1);
diff --git a/Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp b/Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
index 7ddb1c089..02b6750ea 100644
--- a/Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
+++ b/Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
@@ -71,7 +71,7 @@ extern int glutScreenHeight;
 
 
 #ifdef _DEBUG
-const int numObjects = 120;//22;
+const int numObjects = 22;
 #else
 const int numObjects = 120;
 #endif
@@ -285,46 +285,35 @@ int main(int argc,char** argv)
 	}
 
 
-	//create a constraint
-	if (createConstraint)
+	clientResetScene();
+
 	{
 		//physObjects[i]->SetAngularVelocity(0,0,-2,true);
 		int constraintId;
 
-		float pivotX=CUBE_HALF_EXTENTS,
-			pivotY=-CUBE_HALF_EXTENTS,
-			pivotZ=CUBE_HALF_EXTENTS;
-
-		float axisX=1,axisY=0,axisZ=0;
+			float pivotX=CUBE_HALF_EXTENTS,
+				pivotY=CUBE_HALF_EXTENTS,
+				pivotZ=CUBE_HALF_EXTENTS;
+			float axisX=0,axisY=1,axisZ=0;
 
 
-
-		HingeConstraint* hinge = 0;
-
-		SimdVector3 pivotInA(CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS);
-		SimdVector3 pivotInB(-CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS);
-		SimdVector3 axisInA(0,1,0);
-		SimdVector3 axisInB(0,-1,0);
-
-		RigidBody* rb0 = physObjects[1]->GetRigidBody();
-		RigidBody* rb1 = physObjects[2]->GetRigidBody();
-
-		hinge = new HingeConstraint(
-			*rb0,
-			*rb1,pivotInA,pivotInB,axisInA,axisInB);
-
-		physicsEnvironmentPtr->m_constraints.push_back(hinge);
-
-		hinge->SetUserConstraintId(100);
-		hinge->SetUserConstraintType(PHY_LINEHINGE_CONSTRAINT);
+		constraintId =physicsEnvironmentPtr->createConstraint(
+		physObjects[1],
+		//0,
+		physObjects[2],
+			////PHY_POINT2POINT_CONSTRAINT,
+			PHY_GENERIC_6DOF_CONSTRAINT,//can leave any of the 6 degree of freedom 'free' or 'locked'
+			//PHY_LINEHINGE_CONSTRAINT,
+			pivotX,pivotY,pivotZ,
+			axisX,axisY,axisZ
+			);
 
 	}
 
+	
 
 
 
-	clientResetScene();
-
 	setCameraDistance(26.f);
 
 	return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://www.continuousphysics.com/Bullet/phpBB2/");
diff --git a/Demos/ColladaDemo/ColladaDemo.cpp b/Demos/ColladaDemo/ColladaDemo.cpp
index bc8974a18..06424974d 100644
--- a/Demos/ColladaDemo/ColladaDemo.cpp
+++ b/Demos/ColladaDemo/ColladaDemo.cpp
@@ -47,7 +47,7 @@ extern int	gForwardAxis;
 #include "GLDebugDrawer.h"
 
 //either FCollada or COLLADA_DOM
-//#define USE_FCOLLADA 1
+#define USE_FCOLLADA 1
 #ifdef USE_FCOLLADA
 
 //Collada Physics test
@@ -1088,6 +1088,23 @@ int main(int argc,char** argv)
 											if (geom->getConvex_mesh())
 											{
 
+												{
+													 const domConvex_meshRef convexRef = geom->getConvex_mesh();
+													 daeElementRef otherElemRef = convexRef->getConvex_hull_of().getElement();
+													 if ( otherElemRef != NULL )
+													 {
+		 													 domGeometryRef linkedGeom = *(domGeometryRef*)&otherElemRef;
+															 printf( "otherLinked\n");
+													 } else
+													 {
+														 printf("convexMesh polyCount = %i\n",convexRef->getPolygons_array().getCount());
+														 printf("convexMesh triCount = %i\n",convexRef->getTriangles_array().getCount());
+		
+													 }
+												}
+												 
+
+
 												ConvexHullShape* convexHullShape = new ConvexHullShape(0,0);
 												
 												//it is quite a trick to get to the vertices, using Collada.