diff --git a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
index 405a9aeb8..4366284ea 100644
--- a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
+++ b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
@@ -138,6 +138,7 @@ void	initSolverBody(btSolverBody* solverBody, btRigidBody* rigidbody)
 	solverBody->m_invMass = rigidbody->getInvMass();
 	solverBody->m_linearVelocity = rigidbody->getLinearVelocity();
 	solverBody->m_originalBody = rigidbody;
+	solverBody->m_angularFactor = rigidbody->getAngularFactor();
 }
 
 btScalar penetrationResolveFactor = btScalar(0.9);
diff --git a/src/BulletDynamics/ConstraintSolver/btSolverBody.h b/src/BulletDynamics/ConstraintSolver/btSolverBody.h
index 955acc104..2dda865c8 100644
--- a/src/BulletDynamics/ConstraintSolver/btSolverBody.h
+++ b/src/BulletDynamics/ConstraintSolver/btSolverBody.h
@@ -31,7 +31,7 @@ ATTRIBUTE_ALIGNED16 (struct)	btSolverBody
 	btRigidBody*	m_originalBody;
 	float			m_invMass;
 	float			m_friction;
-	float			m_unused;
+	float			m_angularFactor;
 
 	inline void	getVelocityInLocalPoint(const btVector3& rel_pos, btVector3& velocity ) const
 	{
@@ -40,9 +40,9 @@ ATTRIBUTE_ALIGNED16 (struct)	btSolverBody
 
 	//Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position
 	inline void internalApplyImpulse(const btVector3& linearComponent, const btVector3& angularComponent,btScalar impulseMagnitude)
-	{	
+	{
 		m_linearVelocity += linearComponent*impulseMagnitude;
-		m_angularVelocity += angularComponent*impulseMagnitude;
+		m_angularVelocity += angularComponent*impulseMagnitude*m_angularFactor;
 	}
 
 	void	writebackVelocity()
@@ -65,16 +65,7 @@ ATTRIBUTE_ALIGNED16 (struct)	btSolverBody
 
 	
 
-	inline void	applyImpulse(const btVector3& impulse,const btVector3& rel_pos)
-	{
-		if (m_invMass)
-		{
-			m_linearVelocity += impulse * m_invMass;
-			btVector3 torqueImpulse = rel_pos.cross(impulse);
-//			m_angularVelocity += m_invInertiaWorld * torqueImpulse;
-		}
-	}
 
 };
 
-#endif //BT_SOLVER_BODY_H
\ No newline at end of file
+#endif //BT_SOLVER_BODY_H
diff --git a/src/LinearMath/btQuadWord.h b/src/LinearMath/btQuadWord.h
index 50cda330c..961ac484d 100644
--- a/src/LinearMath/btQuadWord.h
+++ b/src/LinearMath/btQuadWord.h
@@ -66,6 +66,7 @@ class	btQuadWord
 			m_x=x;
 			m_y=y;
 			m_z=z;
+			m_unusedW = 0.f;
 		}
 
 /*		void getValue(btScalar *m) const