diff --git a/doc/ReleaseNotes b/doc/ReleaseNotes
index da8e24ae0f..88631b2244 100644
--- a/doc/ReleaseNotes
+++ b/doc/ReleaseNotes
@@ -43,6 +43,7 @@ This issue fixes several bugs that were still found in 1.9.2.
 * Fix exception when creating intervals before ShowBase is started
 * Fix rare X11 .ico cursor bug; also now supports PNG-compressed icons
 * Add keyword argument support to make() methods such as Shader.make()
+* Fix compilation errors with Bullet 2.84
 
 ------------------------  RELEASE 1.9.2  ------------------------
 
diff --git a/panda/src/bullet/bulletCharacterControllerNode.cxx b/panda/src/bullet/bulletCharacterControllerNode.cxx
index f0cb471e40..648b8a76e6 100644
--- a/panda/src/bullet/bulletCharacterControllerNode.cxx
+++ b/panda/src/bullet/bulletCharacterControllerNode.cxx
@@ -14,6 +14,10 @@
 
 #include "bulletCharacterControllerNode.h"
 
+#if BT_BULLET_VERSION >= 285
+static const btVector3 up_vectors[3] = {btVector3(1.0f, 0.0f, 0.0f), btVector3(0.0f, 1.0f, 0.0f), btVector3(0.0f, 0.0f, 1.0f)};
+#endif
+
 TypeHandle BulletCharacterControllerNode::_type_handle;
 
 ////////////////////////////////////////////////////////////////////
@@ -57,8 +61,13 @@ BulletCharacterControllerNode(BulletShape *shape, PN_stdfloat step_height, const
   _angular_movement = 0.0f;
 
   // Character controller
+#if BT_BULLET_VERSION >= 285
+  _character = new btKinematicCharacterController(_ghost, convex, step_height, up_vectors[_up]);
+  _character->setGravity(up_vectors[_up] * -(btScalar)9.81f);
+#else
   _character = new btKinematicCharacterController(_ghost, convex, step_height, _up);
   _character->setGravity((btScalar)9.81f);
+#endif
 
   // Retain a pointer to the shape
   _shape = shape;
@@ -301,8 +310,11 @@ get_max_slope() const {
 ////////////////////////////////////////////////////////////////////
 PN_stdfloat BulletCharacterControllerNode::
 get_gravity() const {
-
+#if BT_BULLET_VERSION >= 285
+  return -(PN_stdfloat)_character->getGravity()[_up];
+#else
   return (PN_stdfloat)_character->getGravity();
+#endif
 }
 
 ////////////////////////////////////////////////////////////////////
@@ -311,8 +323,11 @@ get_gravity() const {
 ////////////////////////////////////////////////////////////////////
 void BulletCharacterControllerNode::
 set_gravity(PN_stdfloat gravity) {
-
+#if BT_BULLET_VERSION >= 285
+  _character->setGravity(up_vectors[_up] * -(btScalar)gravity);
+#else
   _character->setGravity((btScalar)gravity);
+#endif
 }
 
 
diff --git a/panda/src/bullet/bulletManifoldPoint.I b/panda/src/bullet/bulletManifoldPoint.I
index e99c2060ca..9ebfa6e1ec 100644
--- a/panda/src/bullet/bulletManifoldPoint.I
+++ b/panda/src/bullet/bulletManifoldPoint.I
@@ -29,8 +29,15 @@ INLINE BulletManifoldPoint::
 ////////////////////////////////////////////////////////////////////
 INLINE void BulletManifoldPoint::
 set_lateral_friction_initialized(bool value) {
-
+#if BT_BULLET_VERSION >= 285
+  if (value) {
+    _pt.m_contactPointFlags |= BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED;
+  } else {
+    _pt.m_contactPointFlags &= ~BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED;
+  }
+#else
   _pt.m_lateralFrictionInitialized = value;
+#endif
 }
 
 ////////////////////////////////////////////////////////////////////
@@ -40,8 +47,11 @@ set_lateral_friction_initialized(bool value) {
 ////////////////////////////////////////////////////////////////////
 INLINE bool BulletManifoldPoint::
 get_lateral_friction_initialized() const {
-
+#if BT_BULLET_VERSION >= 285
+  return (_pt.m_contactPointFlags & BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED) != 0;
+#else
   return _pt.m_lateralFrictionInitialized;
+#endif
 }
 
 ////////////////////////////////////////////////////////////////////
@@ -238,8 +248,9 @@ get_applied_impulse_lateral2() const {
 ////////////////////////////////////////////////////////////////////
 INLINE void BulletManifoldPoint::
 set_contact_cfm1(PN_stdfloat value) {
-
+#if BT_BULLET_VERSION < 285
   _pt.m_contactCFM1 = (btScalar)value;
+#endif
 }
 
 ////////////////////////////////////////////////////////////////////
@@ -249,8 +260,11 @@ set_contact_cfm1(PN_stdfloat value) {
 ////////////////////////////////////////////////////////////////////
 INLINE PN_stdfloat BulletManifoldPoint::
 get_contact_cfm1() const {
-
+#if BT_BULLET_VERSION < 285
   return (PN_stdfloat)_pt.m_contactCFM1;
+#else
+  return 0;
+#endif
 }
 
 ////////////////////////////////////////////////////////////////////
@@ -260,8 +274,9 @@ get_contact_cfm1() const {
 ////////////////////////////////////////////////////////////////////
 INLINE void BulletManifoldPoint::
 set_contact_cfm2(PN_stdfloat value) {
-
+#if BT_BULLET_VERSION < 285
   _pt.m_contactCFM2 = (btScalar)value;
+#endif
 }
 
 ////////////////////////////////////////////////////////////////////
@@ -271,7 +286,10 @@ set_contact_cfm2(PN_stdfloat value) {
 ////////////////////////////////////////////////////////////////////
 INLINE PN_stdfloat BulletManifoldPoint::
 get_contact_cfm2() const {
-
+#if BT_BULLET_VERSION < 285
   return (PN_stdfloat)_pt.m_contactCFM2;
+#else
+  return 0;
+#endif
 }