diff --git a/Demos/CharacterDemo/CharacterDemo.cpp b/Demos/CharacterDemo/CharacterDemo.cpp
index cddd22196..68445dc6d 100644
--- a/Demos/CharacterDemo/CharacterDemo.cpp
+++ b/Demos/CharacterDemo/CharacterDemo.cpp
@@ -75,7 +75,9 @@ void CharacterDemo::initPhysics()
 	
 	btTransform startTransform;
 	startTransform.setIdentity ();
-	startTransform.setOrigin (btVector3(0.0, 4.0, 0.0));
+	//startTransform.setOrigin (btVector3(0.0, 4.0, 0.0));
+	startTransform.setOrigin (btVector3(10.210098,-1.6433364,16.453260));
+
 
 	m_ghostObject = new btPairCachingGhostObject();
 	m_ghostObject->setWorldTransform(startTransform);
@@ -340,7 +342,8 @@ void CharacterDemo::clientResetScene()
 
 	m_character->reset ();
 	///WTF
-	m_character->warp (btVector3(0, -2.0, 0.));
+	m_character->warp (btVector3(10.210001,-2.0306311,16.576973));
+	
 }
 
 void CharacterDemo::specialKeyboardUp(int key, int x, int y)
diff --git a/Demos/OpenGL/GL_DialogDynamicsWorld.cpp b/Demos/OpenGL/GL_DialogDynamicsWorld.cpp
index 38b447b06..16cc3a529 100644
--- a/Demos/OpenGL/GL_DialogDynamicsWorld.cpp
+++ b/Demos/OpenGL/GL_DialogDynamicsWorld.cpp
@@ -236,6 +236,7 @@ GL_SliderControl* GL_DialogDynamicsWorld::createSlider(GL_DialogWindow* dialog,
 	body->setAngularFactor(btVector3(0,0,0));
 
 	m_dynamicsWorld->addRigidBody(body);
+	body->setCollisionFlags(body->getFlags()|btCollisionObject::CF_NO_CONTACT_RESPONSE);
 	
 	btRigidBody* dialogBody = btRigidBody::upcast(dialog->getCollisionObject());
 	btAssert(dialogBody);
@@ -299,6 +300,7 @@ GL_ToggleControl* GL_DialogDynamicsWorld::createToggle(GL_DialogWindow* dialog,
 	body->setAngularFactor(btVector3(0,0,0));
 
 	m_dynamicsWorld->addRigidBody(body);
+	body->setCollisionFlags(body->getFlags()|btCollisionObject::CF_NO_CONTACT_RESPONSE);
 	
 	btRigidBody* dialogBody = btRigidBody::upcast(dialog->getCollisionObject());
 	btAssert(dialogBody);
diff --git a/src/BulletCollision/CollisionShapes/btCapsuleShape.h b/src/BulletCollision/CollisionShapes/btCapsuleShape.h
index 19541a4ff..ab763abf8 100644
--- a/src/BulletCollision/CollisionShapes/btCapsuleShape.h
+++ b/src/BulletCollision/CollisionShapes/btCapsuleShape.h
@@ -43,6 +43,18 @@ public:
 
 	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
 	
+	virtual void setMargin(btScalar collisionMargin)
+	{
+		//correct the m_implicitShapeDimensions for the margin
+		btVector3 oldMargin(getMargin(),getMargin(),getMargin());
+		btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
+		
+		btConvexInternalShape::setMargin(collisionMargin);
+		btVector3 newMargin(getMargin(),getMargin(),getMargin());
+		m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin;
+
+	}
+
 	virtual void getAabb (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
 	{
 			btVector3 halfExtents(getRadius(),getRadius(),getRadius());