diff --git a/Demos3/bullet2/ConstraintDemo/ConstraintPhysicsSetup.cpp b/Demos3/bullet2/ConstraintDemo/ConstraintPhysicsSetup.cpp
new file mode 100644
index 000000000..8299d9d86
--- /dev/null
+++ b/Demos3/bullet2/ConstraintDemo/ConstraintPhysicsSetup.cpp
@@ -0,0 +1,72 @@
+#include "ConstraintPhysicsSetup.h"
+
+ConstraintPhysicsSetup::ConstraintPhysicsSetup()
+{
+}
+ConstraintPhysicsSetup::~ConstraintPhysicsSetup()
+{
+}
+
+btScalar val;
+btHingeAccumulatedAngleConstraint* spDoorHinge=0;
+void ConstraintPhysicsSetup::stepSimulation(float deltaTime)
+{
+	val=spDoorHinge->getAccumulatedHingeAngle()*SIMD_DEGS_PER_RAD;// spDoorHinge->getHingeAngle()*SIMD_DEGS_PER_RAD;
+	if (m_dynamicsWorld)
+	{
+		m_dynamicsWorld->stepSimulation(deltaTime);
+	}
+}
+
+
+
+void ConstraintPhysicsSetup::initPhysics(GraphicsPhysicsBridge& gfxBridge)
+{
+	gfxBridge.setUpAxis(1);
+	
+	createEmptyDynamicsWorld();
+
+	gfxBridge.createPhysicsDebugDrawer(m_dynamicsWorld);
+int mode = 	btIDebugDraw::DBG_DrawWireframe
+				+btIDebugDraw::DBG_DrawConstraints
+				+btIDebugDraw::DBG_DrawConstraintLimits;
+	m_dynamicsWorld->getDebugDrawer()->setDebugMode(mode);
+
+val=1.f;
+	SliderParams slider("hinge angle",&val);
+slider.m_minVal=-720;
+slider.m_maxVal=720;
+	gfxBridge.getParameterInterface()->registerSliderFloatParameter(slider);
+
+
+	{ // create a door using hinge constraint attached to the world
+		btCollisionShape* pDoorShape = new btBoxShape(btVector3(2.0f, 5.0f, 0.2f));
+		m_collisionShapes.push_back(pDoorShape);
+		btTransform doorTrans;
+		doorTrans.setIdentity();
+		doorTrans.setOrigin(btVector3(-5.0f, -2.0f, 0.0f));
+		btRigidBody* pDoorBody = createRigidBody( 1.0, doorTrans, pDoorShape);
+		pDoorBody->setActivationState(DISABLE_DEACTIVATION);
+		const btVector3 btPivotA(10.f +  2.1f, -2.0f, 0.0f ); // right next to the door slightly outside
+		btVector3 btAxisA( 0.0f, 1.0f, 0.0f ); // pointing upwards, aka Y-axis
+
+		spDoorHinge = new btHingeAccumulatedAngleConstraint( *pDoorBody, btPivotA, btAxisA );
+
+//		spDoorHinge->setLimit( 0.0f, SIMD_PI_2 );
+		// test problem values
+//		spDoorHinge->setLimit( -SIMD_PI, SIMD_PI*0.8f);
+
+//		spDoorHinge->setLimit( 1.f, -1.f);
+//		spDoorHinge->setLimit( -SIMD_PI*0.8f, SIMD_PI);
+//		spDoorHinge->setLimit( -SIMD_PI*0.8f, SIMD_PI, 0.9f, 0.3f, 0.0f);
+//		spDoorHinge->setLimit( -SIMD_PI*0.8f, SIMD_PI, 0.9f, 0.01f, 0.0f); // "sticky limits"
+	//	spDoorHinge->setLimit( -SIMD_PI * 0.25f, SIMD_PI * 0.25f );
+//		spDoorHinge->setLimit( 0.0f, 0.0f );
+		m_dynamicsWorld->addConstraint(spDoorHinge);
+		spDoorHinge->setDbgDrawSize(btScalar(5.f));
+
+		//doorTrans.setOrigin(btVector3(-5.0f, 2.0f, 0.0f));
+		//btRigidBody* pDropBody = localCreateRigidBody( 10.0, doorTrans, shape);
+	}
+
+}
\ No newline at end of file
diff --git a/Demos3/bullet2/ConstraintDemo/ConstraintPhysicsSetup.h b/Demos3/bullet2/ConstraintDemo/ConstraintPhysicsSetup.h
new file mode 100644
index 000000000..59cc66b08
--- /dev/null
+++ b/Demos3/bullet2/ConstraintDemo/ConstraintPhysicsSetup.h
@@ -0,0 +1,16 @@
+#ifndef CONSTAINT_PHYSICS_SETUP_H
+#define CONSTAINT_PHYSICS_SETUP_H
+
+#include "../../../Demos/CommonRigidBodySetup.h"
+
+struct ConstraintPhysicsSetup : public CommonRigidBodySetup
+{
+	ConstraintPhysicsSetup();
+	virtual ~ConstraintPhysicsSetup();
+	virtual void initPhysics(GraphicsPhysicsBridge& gfxBridge);
+
+	virtual void stepSimulation(float deltaTime);
+
+};
+
+#endif //CONSTAINT_PHYSICS_SETUP_H