diff --git a/examples/CommonInterfaces/CommonWindowInterface.h b/examples/CommonInterfaces/CommonWindowInterface.h
index f94189c00..fb3b574e9 100644
--- a/examples/CommonInterfaces/CommonWindowInterface.h
+++ b/examples/CommonInterfaces/CommonWindowInterface.h
@@ -118,6 +118,8 @@ class CommonWindowInterface
 		virtual void setWindowTitle(const char* title)=0;
 
 		virtual	float	getRetinaScale() const =0;
+		virtual	void	setAllowRetina(bool allow) =0;
+	
 
         virtual int fileOpenDialog(char* fileName, int maxFileNameLength) = 0;
     
diff --git a/examples/ExampleBrowser/CMakeLists.txt b/examples/ExampleBrowser/CMakeLists.txt
index 17537dcc4..2074ef722 100644
--- a/examples/ExampleBrowser/CMakeLists.txt
+++ b/examples/ExampleBrowser/CMakeLists.txt
@@ -29,6 +29,8 @@ SET(App_ExampleBrowser_SRCS
 	../ForkLift/ForkLiftDemo.h
 	../Tutorial/Tutorial.cpp
 	../Tutorial/Tutorial.h
+	../Tutorial/Dof6ConstraintTutorial.cpp
+	../Tutorial/Dof6ConstraintTutorial.h
 	../GyroscopicDemo/GyroscopicSetup.cpp
 	../GyroscopicDemo/GyroscopicSetup.h
 	../Planar2D/Planar2D.cpp
@@ -44,7 +46,12 @@ SET(App_ExampleBrowser_SRCS
 	../DynamicControlDemo/MotorDemo.cpp
 	../DynamicControlDemo/MotorDemo.h
 	
-		../RenderingExamples/CoordinateSystemDemo.cpp
+	../RenderingExamples/TimeSeriesCanvas.cpp
+	../RenderingExamples/TimeSeriesCanvas.h
+	../RenderingExamples/TimeSeriesFontData.cpp
+	../RenderingExamples/TimeSeriesFontData.h
+	
+	../RenderingExamples/CoordinateSystemDemo.cpp
 	../RenderingExamples/CoordinateSystemDemo.h
 	../RenderingExamples/RaytracerSetup.cpp
 	../RenderingExamples/RaytracerSetup.h
diff --git a/examples/ExampleBrowser/ExampleEntries.cpp b/examples/ExampleBrowser/ExampleEntries.cpp
index f499e21c4..ba0ca3b57 100644
--- a/examples/ExampleBrowser/ExampleEntries.cpp
+++ b/examples/ExampleBrowser/ExampleEntries.cpp
@@ -39,6 +39,7 @@
 #include "../Constraints/TestHingeTorque.h"
 #include "../RenderingExamples/TimeSeriesExample.h"
 #include "../Tutorial/Tutorial.h"
+#include "../Tutorial/Dof6ConstraintTutorial.h"
 
 #ifdef ENABLE_LUA
 #include "../LuaDemo/LuaPhysicsSetup.h"
@@ -110,7 +111,7 @@ static ExampleEntry gDefaultExamples[]=
 
 	ExampleEntry(0,"Tutorial"),
 	ExampleEntry(1,"Free Rigid Body","(Preliminary work in progress) Free moving rigid body, without external or constraint forces", TutorialCreateFunc,0),
-
+	ExampleEntry(1,"Spring constraint","A rigid body with a spring constraint attached", Dof6ConstraintTutorialCreateFunc,0),
 
 #ifdef INCLUDE_CLOTH_DEMOS
 	ExampleEntry(0,"Soft Body"),
diff --git a/examples/ExampleBrowser/GwenGUISupport/GraphingTexture.cpp b/examples/ExampleBrowser/GwenGUISupport/GraphingTexture.cpp
index 5ff5f2116..4cfcc8f10 100644
--- a/examples/ExampleBrowser/GwenGUISupport/GraphingTexture.cpp
+++ b/examples/ExampleBrowser/GwenGUISupport/GraphingTexture.cpp
@@ -74,116 +74,4 @@ void GraphingTexture::uploadImageData()
 	
 }
 
-#if 0
-//shift the image one pixel
-for(int y=0;y<texHeight;++y)
-{
-	//					const int	t=y>>5;
-	for(int x=1;x<texWidth;++x)
-	{
-		GLubyte*	org=image+(x+y*texWidth)*4;
-		
-		GLubyte*	dst=image+(x-1+y*texWidth)*4;
-		
-		dst[0] = org[0];
-		dst[1] = org[1];
-		dst[2] = org[2];
-		dst[3] = org[3];
-	}
-}
-//render a new row at the right
-for(int y=0;y<texHeight;++y)
-{
-	GLubyte*	pi=image+(texWidth-1+y*texWidth)*4;
-	pi[0]=255;
-	pi[1]=255;
-	pi[2]=255;
-	pi[3]=255;
-	if (y==texHeight*0.5)
-	{
-		pi[0]=200;
-		pi[1]=200;
-		pi[2]=200;
-		pi[3]=255;
-	}
-	
-}
-
-{
-	static float timer = 0.f;
-	static int prevValue=0;
-	timer+= 0.01;
-	float value = 128+100*sinf(timer);
-	MyClamp(value,0.f,float(texHeight-1));
-	GLubyte*	org=image+(texWidth-1+(int)value*texWidth)*4;
-	org[0] = 0;
-	org[1] = 0;
-	org[2] = 0;
-	org[3] = 255;
-	
-	if (prevValue<value)
-	{
-		
-	} else
-	{
-		
-	}
-	
-}
-
-{
-	static float timer = 1.4f;
-	timer+= 0.04;
-	float value = 128+150*sinf(timer);
-	MyClamp(value,0.f,float(texHeight-1));
-	
-	GLubyte*	org=image+(texWidth-1+(int)value*texWidth)*4;
-	org[0] = 0;
-	org[1] = 255;
-	org[2] = 0;
-	org[3] = 255;
-}
-
-{
-	static float timer = 1.4f;
-	timer+= 0.02;
-	float value =256+400*sinf(timer);
-	MyClamp(value,0.f,float(texHeight-1));
-	static int prevValue = 0;
-	
-	GLubyte*	org=image+(texWidth-1+(int)value*texWidth)*4;
-	org[0] = 0;
-	org[1] = 0;
-	org[2] = 255;
-	org[3] = 255;
-	
-	if (prevValue<value)
-	{
-		for (int i=prevValue;i<value;i++)
-		{
-			GLubyte*	org=image+(texHeight-1+(int)i*texWidth)*4;
-			org[0] = 0;
-			org[1] = 0;
-			org[2] = 255;
-			org[3] = 255;
-		}
-	} else
-	{
-		for (int i=value;i<prevValue;i++)
-		{
-			GLubyte*	org=image+(texHeight-1+(int)i*texWidth)*4;
-			org[0] = 0;
-			org[1] = 0;
-			org[2] = 255;
-			org[3] = 255;
-		}
-	}
-	prevValue = value;
-}
-
-
-glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, texWidth,texHeight,0,GL_RGBA,GL_UNSIGNED_BYTE,image);
-glGenerateMipmap(GL_TEXTURE_2D);
-
-#endif
 
diff --git a/examples/ExampleBrowser/GwenGUISupport/GraphingTexture.h b/examples/ExampleBrowser/GwenGUISupport/GraphingTexture.h
index 91df4d699..4751ee603 100644
--- a/examples/ExampleBrowser/GwenGUISupport/GraphingTexture.h
+++ b/examples/ExampleBrowser/GwenGUISupport/GraphingTexture.h
@@ -18,10 +18,13 @@ struct GraphingTexture
 	
 	void setPixel(int x, int y, unsigned char red, unsigned char green, unsigned char blue, unsigned char alpha)
 	{
-		m_imageData[x*4+y*4*m_width+0] = red;
-		m_imageData[x*4+y*4*m_width+1] = green;
-		m_imageData[x*4+y*4*m_width+2] = blue;
-		m_imageData[x*4+y*4*m_width+3] = alpha;
+		if (y>=0 && y<m_height && x>=0 && x<m_width)
+		{
+			m_imageData[x*4+y*4*m_width+0] = red;
+			m_imageData[x*4+y*4*m_width+1] = green;
+			m_imageData[x*4+y*4*m_width+2] = blue;
+			m_imageData[x*4+y*4*m_width+3] = alpha;
+		}
 	}
 	
 	void getPixel(int x, int y, unsigned char& red, unsigned char& green, unsigned char& blue, unsigned char& alpha)
diff --git a/examples/ExampleBrowser/OpenGLExampleBrowser.cpp b/examples/ExampleBrowser/OpenGLExampleBrowser.cpp
index 373590558..82dec4687 100644
--- a/examples/ExampleBrowser/OpenGLExampleBrowser.cpp
+++ b/examples/ExampleBrowser/OpenGLExampleBrowser.cpp
@@ -52,12 +52,14 @@ static MyProfileWindow* s_profWindow =0;
 
 #define DEMO_SELECTION_COMBOBOX 13
 const char* startFileName = "0_Bullet3Demo.txt";
-
+char staticPngFileName[1024];
 static GwenUserInterface* gui  = 0;
 static int sCurrentDemoIndex = -1;
 static int sCurrentHightlighted = 0;
 static CommonExampleInterface* sCurrentDemo = 0;
 static b3AlignedObjectArray<const char*> allNames;
+static float gFixedTimeStep = 0;
+bool gAllowRetina = true;
 
 static class ExampleEntries* gAllExamples=0;
 bool sUseOpenGL2 = false;
@@ -358,6 +360,11 @@ static void saveCurrentSettings(int currentEntry,const char* startFileName)
 		fprintf(f,"--background_color_red= %f\n", red);
 		fprintf(f,"--background_color_green= %f\n", green);
 		fprintf(f,"--background_color_blue= %f\n", blue);
+		fprintf(f,"--fixed_timestep= %f\n", gFixedTimeStep);
+		if (!gAllowRetina)
+		{
+			fprintf(f,"--disable_retina");
+		}
 
 		if (enable_experimental_opencl)
 		{
@@ -663,6 +670,7 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
     
 	loadCurrentSettings(startFileName, args);
 
+	args.GetCmdLineArgument("fixed_timestep",gFixedTimeStep);
 	
 	///The OpenCL rigid body pipeline is experimental and 
 	///most OpenCL drivers and OpenCL compilers have issues with our kernels.
@@ -674,7 +682,11 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
 		enable_experimental_opencl = true;
 		gAllExamples->initOpenCLExampleEntries();
 	}
-
+	if (args.CheckCmdLineFlag("disable_retina"))
+	{
+		gAllowRetina = false;
+	}
+		
 	
 	int width = 1024;
     int height=768;
@@ -703,7 +715,7 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
     {
 		char title[1024];
 		sprintf(title,"%s using OpenGL3+. %s", appTitle,optMode);
-        simpleApp = new SimpleOpenGL3App(title,width,height);
+        simpleApp = new SimpleOpenGL3App(title,width,height, gAllowRetina);
         s_app = simpleApp;
     }
 #endif
@@ -974,17 +986,23 @@ void OpenGLExampleBrowser::update(float deltaTime)
 					{
 						skip=0;
 						//printf("gPngFileName=%s\n",gPngFileName);
-						static int s_frameCount = 0;
-						char fileName[1024];
-						sprintf(fileName,"%s%d.png",gPngFileName,s_frameCount++);
-						b3Printf("Made screenshot %s",fileName);
-						s_app->dumpNextFrameToPng(fileName);
+						static int s_frameCount = 100;
+						
+						sprintf(staticPngFileName,"%s%d.png",gPngFileName,s_frameCount++);
+						//b3Printf("Made screenshot %s",staticPngFileName);
+						s_app->dumpNextFrameToPng(staticPngFileName);
 						 glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
 					}
 				}
 				
 
-				sCurrentDemo->stepSimulation(deltaTime);//1./60.f);
+				if (gFixedTimeStep>0)
+				{
+					sCurrentDemo->stepSimulation(gFixedTimeStep);
+				} else
+				{
+					sCurrentDemo->stepSimulation(deltaTime);//1./60.f);
+				}
 			}
 			
 			if (renderVisualGeometry && ((gDebugDrawFlags&btIDebugDraw::DBG_DrawWireframe)==0))
diff --git a/examples/OpenGLWindow/MacOpenGLWindow.h b/examples/OpenGLWindow/MacOpenGLWindow.h
index 29204b260..f17102a8b 100644
--- a/examples/OpenGLWindow/MacOpenGLWindow.h
+++ b/examples/OpenGLWindow/MacOpenGLWindow.h
@@ -19,6 +19,8 @@ class MacOpenGLWindow : public CommonWindowInterface
 	b3RenderCallback m_renderCallback;
 	
     float m_retinaScaleFactor;
+	bool m_allowRetina;
+	
 public:
     
     MacOpenGLWindow();
@@ -89,6 +91,10 @@ public:
     {
         return m_retinaScaleFactor;
     }
+	virtual	void	setAllowRetina(bool allow)
+	{
+		m_allowRetina = allow;
+	}
 	
 	virtual	void	createWindow(const b3gWindowConstructionInfo& ci);
 	
diff --git a/examples/OpenGLWindow/MacOpenGLWindow.mm b/examples/OpenGLWindow/MacOpenGLWindow.mm
index 71c73571a..6bc0dc056 100644
--- a/examples/OpenGLWindow/MacOpenGLWindow.mm
+++ b/examples/OpenGLWindow/MacOpenGLWindow.mm
@@ -40,7 +40,6 @@ void dumpInfo(void)
 
 
 
-
 // -------------------- View ------------------------
 
 @interface TestView : NSView
@@ -233,7 +232,8 @@ m_mouseMoveCallback(0),
 m_mouseButtonCallback(0),
 m_wheelCallback(0),
 m_keyboardCallback(0),
-m_retinaScaleFactor(1)
+m_retinaScaleFactor(1),
+m_allowRetina(true)
 {
 }
 
@@ -398,7 +398,10 @@ void MacOpenGLWindow::createWindow(const b3gWindowConstructionInfo& ci)
     //support HighResolutionOSX for Retina Macbook
     if (ci.m_openglVersion>=3)
     {
-        [m_internalData->m_myview  setWantsBestResolutionOpenGLSurface:YES];
+		if (m_allowRetina)
+		{
+			[m_internalData->m_myview  setWantsBestResolutionOpenGLSurface:YES];
+		}
     }
     NSSize sz;
     sz.width = 1;
diff --git a/examples/OpenGLWindow/SimpleOpenGL3App.cpp b/examples/OpenGLWindow/SimpleOpenGL3App.cpp
index a5fda66ba..67dfa0953 100644
--- a/examples/OpenGLWindow/SimpleOpenGL3App.cpp
+++ b/examples/OpenGLWindow/SimpleOpenGL3App.cpp
@@ -112,7 +112,7 @@ static GLuint BindFont(const CTexFont *_Font)
 
 extern unsigned char OpenSansData[];
 
-SimpleOpenGL3App::SimpleOpenGL3App(	const char* title, int width,int height)
+SimpleOpenGL3App::SimpleOpenGL3App(	const char* title, int width,int height, bool allowRetina)
 {
 	gApp = this;
 	m_data = new SimpleInternalData;
@@ -123,6 +123,8 @@ SimpleOpenGL3App::SimpleOpenGL3App(	const char* title, int width,int height)
 	m_data->m_upAxis = 1;
 
 	m_window = new b3gDefaultOpenGLWindow();
+	m_window->setAllowRetina(allowRetina);
+	
 	b3gWindowConstructionInfo ci;
 	ci.m_title = title;
 	ci.m_width = width;
diff --git a/examples/OpenGLWindow/SimpleOpenGL3App.h b/examples/OpenGLWindow/SimpleOpenGL3App.h
index 64123c36e..15fee8ab5 100644
--- a/examples/OpenGLWindow/SimpleOpenGL3App.h
+++ b/examples/OpenGLWindow/SimpleOpenGL3App.h
@@ -16,7 +16,7 @@ struct SimpleOpenGL3App : public CommonGraphicsApp
 	class GLInstancingRenderer* m_instancingRenderer;
 	virtual void setBackgroundColor(float red, float green, float blue);
 
-	SimpleOpenGL3App(const char* title, int width,int height);
+	SimpleOpenGL3App(const char* title, int width,int height, bool allowRetina);
 	virtual ~SimpleOpenGL3App();
 
 	virtual int	registerCubeShape(float halfExtentsX=1.f,float halfExtentsY=1.f, float halfExtentsZ = 1.f, int textureIndex = -1);
diff --git a/examples/OpenGLWindow/Win32OpenGLWindow.h b/examples/OpenGLWindow/Win32OpenGLWindow.h
index 41f42d956..bf8a0f5eb 100644
--- a/examples/OpenGLWindow/Win32OpenGLWindow.h
+++ b/examples/OpenGLWindow/Win32OpenGLWindow.h
@@ -51,6 +51,7 @@ public:
 	virtual	void	endRendering();
 
 	virtual float getRetinaScale() const {return 1.f;}
+	virtual void setAllowRetina(bool /*allowRetina*/) {};
 
 	virtual int fileOpenDialog(char* fileName, int maxFileNameLength);
 };
diff --git a/examples/OpenGLWindow/X11OpenGLWindow.h b/examples/OpenGLWindow/X11OpenGLWindow.h
index fd8fc6127..cc28aae1a 100644
--- a/examples/OpenGLWindow/X11OpenGLWindow.h
+++ b/examples/OpenGLWindow/X11OpenGLWindow.h
@@ -39,7 +39,7 @@ public:
         virtual void    endRendering();
 
         virtual float getRetinaScale() const {return 1.f;}
-
+	virtual void setAllowRetina(bool /*allowRetina*/) {};
 
 	virtual void    runMainLoop();
         virtual float   getTimeInSeconds();
diff --git a/examples/RenderingExamples/TimeSeriesCanvas.cpp b/examples/RenderingExamples/TimeSeriesCanvas.cpp
new file mode 100644
index 000000000..8edf431a1
--- /dev/null
+++ b/examples/RenderingExamples/TimeSeriesCanvas.cpp
@@ -0,0 +1,345 @@
+#include "TimeSeriesCanvas.h"
+#include "../CommonInterfaces/Common2dCanvasInterface.h"
+#include "LinearMath/btAlignedObjectArray.h"
+#include "TimeSeriesFontData.h"
+#include "LinearMath/btVector3.h"
+#include <stdio.h>
+
+struct DataSource
+{
+	unsigned char m_red;
+	unsigned char m_green;
+	unsigned char m_blue;
+	float m_lastValue;
+	bool m_hasLastValue;
+	DataSource()
+		:m_hasLastValue(false)
+	{
+	}
+};
+
+struct TimeSeriesInternalData
+{
+	btAlignedObjectArray<DataSource> m_dataSources;
+
+	struct Common2dCanvasInterface* m_canvasInterface;
+	int	m_canvasIndex;
+	int m_width;
+	int m_height;
+
+	float m_pixelsPerUnit;
+	float m_zero;
+	int m_timeTicks;
+	int m_ticksPerSecond;
+	float m_yScale;
+	int m_bar;
+
+	unsigned char m_backgroundRed;
+	unsigned char m_backgroundGreen;
+	unsigned char m_backgroundBlue;
+	unsigned char m_backgroundAlpha;
+
+	unsigned char m_textColorRed;
+	unsigned char m_textColorGreen;
+	unsigned char m_textColorBlue;
+	unsigned char m_textColorAlpha;
+
+	float getTime() 
+	{
+		return m_timeTicks/(float)m_ticksPerSecond;
+	}
+
+	TimeSeriesInternalData(int width, int height)
+		:m_width(width),
+		m_height(height),
+		m_pixelsPerUnit(-100),
+		m_zero(height/2.0),
+		m_timeTicks(0),
+		m_ticksPerSecond(100),
+		m_yScale(1),
+		m_bar(0),
+		m_backgroundRed(255),
+		m_backgroundGreen(255),
+		m_backgroundBlue(255),
+		m_backgroundAlpha(255),
+		m_textColorRed(0),
+		m_textColorGreen(0),
+		m_textColorBlue(255),
+		m_textColorAlpha(255)
+	{
+	}
+};
+
+TimeSeriesCanvas::TimeSeriesCanvas(struct Common2dCanvasInterface* canvasInterface, int width, int height, const char* windowTitle)
+{
+	btAssert(canvasInterface);
+
+	m_internalData = new TimeSeriesInternalData(width,height);
+	
+	m_internalData->m_canvasInterface = canvasInterface;
+	
+	m_internalData->m_canvasIndex = m_internalData->m_canvasInterface->createCanvas(windowTitle,m_internalData->m_width,m_internalData->m_height);
+}
+
+void TimeSeriesCanvas::addDataSource(const char* dataSourceLabel, unsigned char red,unsigned char green,unsigned char blue)
+{
+	DataSource dataSource;
+	dataSource.m_red = red;
+	dataSource.m_green = green;
+	dataSource.m_blue = blue;
+	dataSource.m_lastValue = 0;
+	dataSource.m_hasLastValue = false;
+
+	
+	if (dataSourceLabel)
+	{
+		int numSources = m_internalData->m_dataSources.size();
+		int row = numSources%3;
+		int column = numSources/3;
+		grapicalPrintf(dataSourceLabel, sTimeSeriesFontData, 50+200*column,m_internalData->m_height-48+row*16,
+			red, green,blue,255);
+	}
+
+	m_internalData->m_dataSources.push_back(dataSource);
+
+}
+void TimeSeriesCanvas::setupTimeSeries(float yScale, int ticksPerSecond, int startTime)
+{
+	m_internalData->m_pixelsPerUnit = -(m_internalData->m_height/3.f)/yScale;
+	m_internalData->m_ticksPerSecond = ticksPerSecond;
+	m_internalData->m_yScale = yScale;
+	m_internalData->m_dataSources.clear();
+	for (int i=0;i<m_internalData->m_width;i++)
+	{
+		for (int j=0;j<m_internalData->m_height;j++)
+		{
+			
+			m_internalData->m_canvasInterface->setPixel(m_internalData->m_canvasIndex,i,j,
+				m_internalData->m_backgroundRed,
+				m_internalData->m_backgroundGreen,
+				m_internalData->m_backgroundBlue,
+				m_internalData->m_backgroundAlpha);
+		}
+	}
+	
+	
+	float zeroPixelCoord = m_internalData->m_zero;
+	float pixelsPerUnit = m_internalData->m_pixelsPerUnit;
+	
+	float yPos = zeroPixelCoord+pixelsPerUnit*yScale;
+	float yNeg = zeroPixelCoord+pixelsPerUnit*-yScale;
+
+	
+	grapicalPrintf("0", sTimeSeriesFontData, 2,zeroPixelCoord,m_internalData->m_textColorRed,m_internalData->m_textColorGreen,m_internalData->m_textColorBlue,m_internalData->m_textColorAlpha);
+	char label[1024];
+	sprintf(label,"%2.1f", yScale);
+	grapicalPrintf(label, sTimeSeriesFontData, 2,yPos,m_internalData->m_textColorRed,m_internalData->m_textColorGreen,m_internalData->m_textColorBlue,m_internalData->m_textColorAlpha);
+	sprintf(label,"%2.1f", -yScale);
+	grapicalPrintf(label, sTimeSeriesFontData, 2,yNeg,m_internalData->m_textColorRed,m_internalData->m_textColorGreen,m_internalData->m_textColorBlue,m_internalData->m_textColorAlpha);
+		
+	m_internalData->m_canvasInterface->refreshImageData(m_internalData->m_canvasIndex);
+
+}
+
+TimeSeriesCanvas::~TimeSeriesCanvas()
+{
+	if (m_internalData->m_canvasInterface && m_internalData->m_canvasIndex>=0)
+	{
+		m_internalData->m_canvasInterface->destroyCanvas(m_internalData->m_canvasIndex);
+	}
+	delete m_internalData;
+}
+
+float TimeSeriesCanvas::getCurrentTime() const
+{
+	return m_internalData->getTime();
+}
+void TimeSeriesCanvas::grapicalPrintf(const char* str,	void* fontData, int rasterposx,int rasterposy, unsigned char red, unsigned char green, unsigned char blue, unsigned char alpha)
+{
+	unsigned char c;
+	int x=0;
+	int xx=0;
+	
+	while ((c = (unsigned char) *str++)) {
+		
+		x=xx;		
+		unsigned char* fontPtr = (unsigned char*) fontData;
+		char ch = c-32;
+		
+		int sx=ch%16;
+		int sy=ch/16;
+		
+		
+		for (int i=sx*16;i<(sx*16+16);i++)
+		{
+			int y=0;
+			for (int j=sy*16;j<(sy*16+16);j++)
+			{
+				unsigned char packedColor = (fontPtr[i*3+255*256*3-(256*j)*3]);
+				//float colorf = packedColor ? 0.f : 1.f;
+				float colorf = packedColor/255.f;// ? 0.f : 1.f;
+				btVector4 rgba(colorf,colorf,colorf,1.f);
+				if (colorf)
+				{
+					if ((rasterposx+x>=0) && (rasterposx+x < m_internalData->m_width) &&
+					(rasterposy+y>=0) && (rasterposy+y<m_internalData->m_height))
+					{
+					m_internalData->m_canvasInterface->setPixel(m_internalData->m_canvasIndex,rasterposx+x,rasterposy+y,
+													   red,green,blue,alpha);
+					}	
+				}
+				y++;
+			}
+			x++;
+		}
+		xx+=10;
+	}
+}
+
+void TimeSeriesCanvas::shift1PixelToLeft()
+{
+	
+	int resetVal = 10;
+	int countdown = resetVal;
+
+	//shift pixture one pixel to the left
+	for (int j=0;j<m_internalData->m_height-48;j++)
+	{
+		for (int i=40;i<this->m_internalData->m_width;i++)
+		{
+			unsigned char red, green, blue, alpha;
+			m_internalData->m_canvasInterface->getPixel(m_internalData->m_canvasIndex,i,j,red,green,blue,alpha);
+			m_internalData->m_canvasInterface->setPixel(m_internalData->m_canvasIndex,i-1,j,red,green,blue,alpha);
+		}
+		if (!m_internalData->m_bar)
+		{
+			
+			
+			if (!countdown--)
+			{
+				countdown=resetVal;
+				m_internalData->m_canvasInterface->setPixel(m_internalData->m_canvasIndex,m_internalData->m_width-1,j,0,0,0,255);
+			} else
+			{
+				m_internalData->m_canvasInterface->setPixel(m_internalData->m_canvasIndex,m_internalData->m_width-1,j,255,255,255,255);
+				
+			}
+		} else
+		{
+			m_internalData->m_canvasInterface->setPixel(m_internalData->m_canvasIndex,m_internalData->m_width-1,j,255,255,255,255);
+			
+		}
+	}
+
+
+		{
+			int resetVal = 2;
+			static int countdown = resetVal;
+			if (!countdown--)
+			{
+				countdown=resetVal;
+				m_internalData->m_canvasInterface->setPixel(m_internalData->m_canvasIndex,m_internalData->m_width-1,m_internalData->m_zero,0,0,0,255);
+			}
+		}
+
+		{
+			int resetVal = 10;
+			static int countdown = resetVal;
+			if (!countdown--)
+			{
+				countdown=resetVal;
+				float zeroPixelCoord = m_internalData->m_zero;
+				float pixelsPerUnit = m_internalData->m_pixelsPerUnit;
+
+				float yPos = zeroPixelCoord+pixelsPerUnit*m_internalData->m_yScale;
+				float yNeg = zeroPixelCoord+pixelsPerUnit*-m_internalData->m_yScale;
+
+				m_internalData->m_canvasInterface->setPixel(m_internalData->m_canvasIndex,m_internalData->m_width-1,
+					yPos,0,0,0,255);
+				m_internalData->m_canvasInterface->setPixel(m_internalData->m_canvasIndex,m_internalData->m_width-1,
+					yNeg,0,0,0,255);
+			}
+		}
+	
+	
+	
+	
+	if (!m_internalData->m_bar)
+	{
+		char buf[1024];
+		float time = m_internalData->getTime();
+		sprintf(buf,"%3.2f",time);
+		grapicalPrintf(buf, sTimeSeriesFontData, m_internalData->m_width-53,m_internalData->m_zero+3,0,0,0,255);
+
+		m_internalData->m_bar=m_internalData->m_ticksPerSecond;
+		
+	}
+	m_internalData->m_timeTicks++;
+
+	m_internalData->m_bar--;
+
+}
+
+void TimeSeriesCanvas::insertDataAtCurrentTime(float orgV, int dataSourceIndex, bool connectToPrevious)
+{
+	btAssert(dataSourceIndex < m_internalData->m_dataSources.size());
+
+	float zero = m_internalData->m_zero;
+	float amp = m_internalData->m_pixelsPerUnit;
+	//insert some new value(s) in the right-most column
+	{
+		float time = m_internalData->getTime();
+		
+		float v = zero+amp*orgV;
+		
+		m_internalData->m_canvasInterface->setPixel(m_internalData->m_canvasIndex,m_internalData->m_width-1,v,
+					m_internalData->m_dataSources[dataSourceIndex].m_red,
+					m_internalData->m_dataSources[dataSourceIndex].m_green,
+					m_internalData->m_dataSources[dataSourceIndex].m_blue,
+					255
+					);
+
+		if (connectToPrevious && m_internalData->m_dataSources[dataSourceIndex].m_hasLastValue)
+		{
+			for (int value=m_internalData->m_dataSources[dataSourceIndex].m_lastValue;value<=v;value++)
+			{
+				if (value>=0 && value < float(m_internalData->m_height-1))
+				{
+					m_internalData->m_canvasInterface->setPixel(m_internalData->m_canvasIndex,m_internalData->m_width-1,value,
+						m_internalData->m_dataSources[dataSourceIndex].m_red,
+						m_internalData->m_dataSources[dataSourceIndex].m_green,
+						m_internalData->m_dataSources[dataSourceIndex].m_blue,
+						255
+						);
+				}
+			}
+
+		
+	
+		
+			for (int value=v;value<=m_internalData->m_dataSources[dataSourceIndex].m_lastValue;value++)
+			{
+				if (value>=0 && value < float(m_internalData->m_height-1))
+				{
+					m_internalData->m_canvasInterface->setPixel(m_internalData->m_canvasIndex,m_internalData->m_width-1,value,
+						m_internalData->m_dataSources[dataSourceIndex].m_red,
+						m_internalData->m_dataSources[dataSourceIndex].m_green,
+						m_internalData->m_dataSources[dataSourceIndex].m_blue,
+						255);
+				}
+			}
+			
+		}
+		m_internalData->m_dataSources[dataSourceIndex].m_lastValue = v;
+			m_internalData->m_dataSources[dataSourceIndex].m_hasLastValue = true;
+	}
+
+
+
+
+}
+void TimeSeriesCanvas::nextTick()
+{
+	shift1PixelToLeft();
+	m_internalData->m_canvasInterface->refreshImageData(m_internalData->m_canvasIndex);
+}
diff --git a/examples/RenderingExamples/TimeSeriesCanvas.h b/examples/RenderingExamples/TimeSeriesCanvas.h
new file mode 100644
index 000000000..3a4269295
--- /dev/null
+++ b/examples/RenderingExamples/TimeSeriesCanvas.h
@@ -0,0 +1,25 @@
+#ifndef TIME_SERIES_CANVAS_H
+#define TIME_SERIES_CANVAS_H
+
+class TimeSeriesCanvas
+{
+protected:
+	struct TimeSeriesInternalData* m_internalData;
+	void shift1PixelToLeft();
+	void grapicalPrintf(const char* str,	void* fontData, int rasterposx,int rasterposy,unsigned char red, unsigned char green, unsigned char blue, unsigned char alpha);
+
+public:
+	
+	TimeSeriesCanvas(struct Common2dCanvasInterface* canvasInterface, int width, int height, const char* windowTitle);
+	virtual ~TimeSeriesCanvas();
+
+	void setupTimeSeries(float yScale, int ticksPerSecond, int startTime);
+	void addDataSource(const char* dataSourceLabel, unsigned char red,unsigned char green,unsigned char blue);
+	void insertDataAtCurrentTime(float value, int dataSourceIndex, bool connectToPrevious);
+	float getCurrentTime() const;
+
+	virtual void nextTick();
+	
+};
+
+#endif//TIME_SERIES_CANVAS_H
\ No newline at end of file
diff --git a/examples/RenderingExamples/TimeSeriesExample.cpp b/examples/RenderingExamples/TimeSeriesExample.cpp
index a259409cd..e244efdfd 100644
--- a/examples/RenderingExamples/TimeSeriesExample.cpp
+++ b/examples/RenderingExamples/TimeSeriesExample.cpp
@@ -10,9 +10,9 @@
 #include "btBulletCollisionCommon.h"
 #include "../CommonInterfaces/CommonGUIHelperInterface.h"
 
-extern unsigned char sFontData[];
-float amp=100;
-float zero = 178;
+
+#include "TimeSeriesCanvas.h"
+
 
 struct TimeSeriesExample : public CommonExampleInterface
 {
@@ -30,8 +30,6 @@ struct TimeSeriesExample : public CommonExampleInterface
 
 	virtual void stepSimulation(float deltaTime);
 
-	void grapicalPrintf(char* str,	void* fontData, int rasterposx,int rasterposy,unsigned char red, unsigned char green, unsigned char blue, unsigned char alpha);
-	
 	virtual void	physicsDebugDraw(int debugFlags);
 
 	virtual void syncPhysicsToGraphics(struct GraphicsPhysicsBridge& gfxBridge);
@@ -49,17 +47,11 @@ struct TimeSeriesExample : public CommonExampleInterface
 
 struct TimeSeriesExampleInternalData
 {
-	int m_canvasIndex;
-	struct Common2dCanvasInterface* m_canvas;
+	TimeSeriesCanvas* m_timeSeriesCanvas;
 
-	int m_width;
-	int m_height;
 
 	TimeSeriesExampleInternalData()
-		:m_canvasIndex(-1),
-		m_canvas(0),
-		m_width(512),
-		m_height(512)
+		:m_timeSeriesCanvas(0)
 	{
 	}
 };
@@ -72,6 +64,7 @@ TimeSeriesExample::TimeSeriesExample(struct CommonGraphicsApp* app)
 
 TimeSeriesExample::~TimeSeriesExample()
 {
+	delete m_internalData->m_timeSeriesCanvas;
 	delete m_internalData;
 }
 
@@ -79,218 +72,39 @@ void TimeSeriesExample::initPhysics()
 {
 	//request a visual bitma/texture we can render to
 	
-	
-
-	m_internalData->m_canvas = m_app->m_2dCanvasInterface;
-	
-
-	if (m_internalData->m_canvas)
-	{
-		
-		m_internalData->m_canvasIndex = m_internalData->m_canvas->createCanvas("Time Series",m_internalData->m_width,m_internalData->m_height);
-		for (int i=0;i<m_internalData->m_width;i++)
-		{
-			for (int j=0;j<m_internalData->m_height;j++)
-			{
-				unsigned char red=255;
-				unsigned char green=255;
-				unsigned char blue=255;
-				unsigned char alpha=255;
-				m_internalData->m_canvas->setPixel(m_internalData->m_canvasIndex,i,j,red,green,blue,alpha);
-			}
-		}
-		unsigned char red=0,green=0,blue=0,alpha=255;
-		grapicalPrintf("  This is just a time series test", sFontData, 10,10,red,green,blue,alpha);
-		
-		grapicalPrintf("0", sFontData, 2,zero,red,green,blue,alpha);
-		grapicalPrintf("1", sFontData, 2,zero-amp,red,green,blue,alpha);
-		grapicalPrintf("-1", sFontData, 2,zero+amp,red,green,blue,alpha);
-		
-		m_internalData->m_canvas->refreshImageData(m_internalData->m_canvasIndex);
-
-	}
-
+	m_internalData->m_timeSeriesCanvas = new TimeSeriesCanvas(m_app->m_2dCanvasInterface,512,512, "Test");
+	m_internalData->m_timeSeriesCanvas ->setupTimeSeries(3,100, 0);
+	m_internalData->m_timeSeriesCanvas->addDataSource("Some sine wave", 255,0,0);
+	m_internalData->m_timeSeriesCanvas->addDataSource("Some cosine wave", 0,255,0);
+	m_internalData->m_timeSeriesCanvas->addDataSource("Delta Time (*10)", 0,0,255);
+	m_internalData->m_timeSeriesCanvas->addDataSource("Tan", 255,0,255);
+	m_internalData->m_timeSeriesCanvas->addDataSource("Some cosine wave2", 255,255,0);
+	m_internalData->m_timeSeriesCanvas->addDataSource("Empty source2", 255,0,255);
 }
 
 
 void TimeSeriesExample::exitPhysics()
 {
 	
-	if (m_internalData->m_canvas && m_internalData->m_canvasIndex>=0)
-	{
-		m_internalData->m_canvas->destroyCanvas(m_internalData->m_canvasIndex);
-	}
-}
-
-
-void TimeSeriesExample::grapicalPrintf(char* str,	void* fontData, int rasterposx,int rasterposy, unsigned char red, unsigned char green, unsigned char blue, unsigned char alpha)
-{
-	unsigned char c;
-	int x=0;
-	int xx=0;
 	
-	while ((c = (unsigned char) *str++)) {
-		
-		x=xx;		
-		unsigned char* fontPtr = (unsigned char*) fontData;
-		char ch = c-32;
-		
-		int sx=ch%16;
-		int sy=ch/16;
-		
-		
-		for (int i=sx*16;i<(sx*16+16);i++)
-		{
-			int y=0;
-			for (int j=sy*16;j<(sy*16+16);j++)
-			{
-				unsigned char packedColor = (fontPtr[i*3+255*256*3-(256*j)*3]);
-				//float colorf = packedColor ? 0.f : 1.f;
-				float colorf = packedColor/255.f;// ? 0.f : 1.f;
-				btVector4 rgba(colorf,colorf,colorf,1.f);
-				if (colorf)
-				{
-					if ((rasterposx+x>=0) && (rasterposx+x < m_internalData->m_width) &&
-					(rasterposy+y>=0) && (rasterposy+y<m_internalData->m_height))
-					{
-					m_internalData->m_canvas->setPixel(m_internalData->m_canvasIndex,rasterposx+x,rasterposy+y,
-													   red,green,blue,alpha);
-					}				}
-				y++;
-			}
-			x++;
-		}
-		xx+=10;
-	}
 }
 
+
 void TimeSeriesExample::stepSimulation(float deltaTime)
 {
+	
+	float time = m_internalData->m_timeSeriesCanvas->getCurrentTime();
+	float v = sinf(time);
+	m_internalData->m_timeSeriesCanvas->insertDataAtCurrentTime(v,0,true);
+	v = cosf(time);
+	m_internalData->m_timeSeriesCanvas->insertDataAtCurrentTime(v,1,true);
+	v = tanf(time);
+	m_internalData->m_timeSeriesCanvas->insertDataAtCurrentTime(v,3,true);
+	m_internalData->m_timeSeriesCanvas->insertDataAtCurrentTime(deltaTime*10,2,true);
 
+	m_internalData->m_timeSeriesCanvas->nextTick();
 
-	
-	static int bar = amp;
-	int resetVal = 10;
-	int countdown = resetVal;
-	bar--;
-	
-	//shift pixture one pixel to the left
-	for (int j=0;j<m_internalData->m_height;j++)
-	{
-		for (int i=32;i<this->m_internalData->m_width;i++)
-		{
-			unsigned char red, green, blue, alpha;
-			m_internalData->m_canvas->getPixel(m_internalData->m_canvasIndex,i,j,red,green,blue,alpha);
-			m_internalData->m_canvas->setPixel(m_internalData->m_canvasIndex,i-1,j,red,green,blue,alpha);
-		}
-		if (!bar)
-		{
-			
-			
-			if (!countdown--)
-			{
-				countdown=resetVal;
-				m_internalData->m_canvas->setPixel(m_internalData->m_canvasIndex,m_internalData->m_width-1,j,0,0,0,255);
-			} else
-			{
-				m_internalData->m_canvas->setPixel(m_internalData->m_canvasIndex,m_internalData->m_width-1,j,255,255,255,255);
-				
-			}
-		} else
-		{
-			m_internalData->m_canvas->setPixel(m_internalData->m_canvasIndex,m_internalData->m_width-1,j,255,255,255,255);
-			
-		}
-	}
-	if (!bar)
-	{
-		static int testcounter=0;
-		testcounter++;
-		char buf[1024];
-		sprintf(buf,"%d",testcounter);
-		grapicalPrintf(buf, sFontData, m_internalData->m_width-32,zero+3,0,0,0,255);
-		bar=amp;
-	}
-	
-	m_internalData->m_canvas->refreshImageData(m_internalData->m_canvasIndex);
-	
-	//insert some new value(s) in the right-most column
-	{
-		static float timer = 0.f;
-		static int prevValue=0;
-		timer+= 0.1;
 		
-		
-		
-		float one = zero+amp;
-		float minone = zero-amp;
-		float v = 128+100*sinf(timer);
-		for (int value=prevValue;value<=v;value++)
-		{
-			if (value>=0 && value < float(m_internalData->m_height-1))
-			{
-				m_internalData->m_canvas->setPixel(m_internalData->m_canvasIndex,m_internalData->m_width-1,value,255,0,0,255);
-			}
-		}
-		{
-			int resetVal = 2;
-			static int countdown = resetVal;
-			;
-			if (!countdown--)
-			{
-				countdown=resetVal;
-				m_internalData->m_canvas->setPixel(m_internalData->m_canvasIndex,m_internalData->m_width-1,zero,0,0,0,255);
-			}
-		}
-		
-		{
-			
-			static int countdown = resetVal;
-			;
-			if (!countdown--)
-			{
-				countdown=resetVal;
-				m_internalData->m_canvas->setPixel(m_internalData->m_canvasIndex,m_internalData->m_width-1,one,0,0,0,255);
-				m_internalData->m_canvas->setPixel(m_internalData->m_canvasIndex,m_internalData->m_width-1,minone,0,0,0,255);
-				
-			}
-		}
-		
-		
-		for (int value=v;value<=prevValue;value++)
-		{
-			if (value>=0 && value < float(m_internalData->m_height-1))
-			{
-				m_internalData->m_canvas->setPixel(m_internalData->m_canvasIndex,m_internalData->m_width-1,value,255,0,0,255);
-			}
-		}
-		prevValue = v;
-	}
-	
-	{
-		static float timer = 0.f;
-		static int prevValue=0;
-		timer+= 0.01;
-		float v = 228+200*sinf(timer);
-		for (int value=prevValue;value<=v;value++)
-		{
-			if (value>=0 && value < float(m_internalData->m_height-1))
-			{
-				m_internalData->m_canvas->setPixel(m_internalData->m_canvasIndex,m_internalData->m_width-1,value,0,0,255,255);
-			}
-		}
-		for (int value=v;value<=prevValue;value++)
-		{
-			if (value>=0 && value < float(m_internalData->m_height-1))
-			{
-				m_internalData->m_canvas->setPixel(m_internalData->m_canvasIndex,m_internalData->m_width-1,value,0,0,255,255);
-			}
-		}
-		prevValue = v;
-	}
-	
-
-		m_internalData->m_canvas->refreshImageData(m_internalData->m_canvasIndex);
 }
 
 
@@ -326,775 +140,3 @@ void TimeSeriesExample::syncPhysicsToGraphics(GraphicsPhysicsBridge& gfxBridge)
 
 
 
-unsigned char sFontData[] = 
-{
-	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
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-};
-
diff --git a/examples/RenderingExamples/TimeSeriesFontData.cpp b/examples/RenderingExamples/TimeSeriesFontData.cpp
new file mode 100644
index 000000000..37e8fd6a2
--- /dev/null
+++ b/examples/RenderingExamples/TimeSeriesFontData.cpp
@@ -0,0 +1,773 @@
+#include "TimeSeriesFontData.h"
+
+unsigned char sTimeSeriesFontData[] = 
+{
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+	103,103,0,0,0,255,255,255,0,0,0,0,0,0,0,0,0,255,255,255,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,255,255,255,213,213,213,0,0,0,255,255,255,103,103,103,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,246,246,246,246,246,246,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,2,255,255,255,70,70,70,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,255,255,255,255,255,255,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,70,70,70,178,178,178,0,0,
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+	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,255,255,255,255,255,255,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,255,255,255,103,103,103,0,0,0,246,246,246,246,246,246,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,2,103,103,103,0,0,0,103,103,103,37,37,37,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,2,213,213,213,255,255,255,246,246,246,145,145,145,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,178,
+	178,178,246,246,246,37,37,37,0,0,0,0,0,0,0,0,0,103,103,103,213,213,213,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,255,255,255,255,255,255,178,178,178,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,255,255,255,255,255,255,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,2,255,255,255,255,255,255,2,2,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,178,178,178,255,255,255,145,145,145,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,70,70,70,145,145,145,0,0,
+	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,246,246,246,70,70,70,0,0,0,0,0,0,0,0,0,
+	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,103,103,103,2,2,2,0,0,0,70,70,70,70,70,70,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,246,246,246,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
+	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,103,103,103,103,103,103,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,37,37,37,2,2,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,103,103,103,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
+	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,70,70,70,0,0,0,0,0,0,0,0,0,
+	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
+	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
+	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
+};
diff --git a/examples/RenderingExamples/TimeSeriesFontData.h b/examples/RenderingExamples/TimeSeriesFontData.h
new file mode 100644
index 000000000..bfe149ba4
--- /dev/null
+++ b/examples/RenderingExamples/TimeSeriesFontData.h
@@ -0,0 +1,6 @@
+#ifndef TIME_SERIES_FONT_DATA_H
+#define TIME_SERIES_FONT_DATA_H
+
+extern unsigned char sTimeSeriesFontData[];
+
+#endif//TIME_SERIES_FONT_DATA_H
diff --git a/examples/SharedMemory/PhysicsServer.cpp b/examples/SharedMemory/PhysicsServer.cpp
index 3454b613d..6cc8eeaf0 100644
--- a/examples/SharedMemory/PhysicsServer.cpp
+++ b/examples/SharedMemory/PhysicsServer.cpp
@@ -124,7 +124,7 @@ void PhysicsServerSharedMemory::createEmptyDynamicsWorld()
 	
 	m_data->m_dynamicsWorld = new btMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration);
 	
-	m_data->m_dynamicsWorld->setGravity(btVector3(0, -10, 0));
+	m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, 0));
 }
 
 void PhysicsServerSharedMemory::deleteDynamicsWorld()
@@ -187,14 +187,19 @@ void PhysicsServerSharedMemory::deleteDynamicsWorld()
 	m_data->m_collisionShapes.clear();
 
 	delete m_data->m_dynamicsWorld;
+	m_data->m_dynamicsWorld=0;
 
 	delete m_data->m_solver;
+	m_data->m_solver=0;
 
 	delete m_data->m_broadphase;
+	m_data->m_broadphase=0;
 
 	delete m_data->m_dispatcher;
+	m_data->m_dispatcher=0;
 
 	delete m_data->m_collisionConfiguration;
+	m_data->m_collisionConfiguration=0;
 
 }
 
diff --git a/examples/SharedMemory/RobotControlExample.cpp b/examples/SharedMemory/RobotControlExample.cpp
index 0c54b435e..bdd20f296 100644
--- a/examples/SharedMemory/RobotControlExample.cpp
+++ b/examples/SharedMemory/RobotControlExample.cpp
@@ -72,10 +72,16 @@ public:
     
     virtual bool wantsTermination();
     virtual bool isConnected();
-	virtual void	renderScene(){}
+	virtual void	renderScene()
+	{
+		m_physicsServer.renderScene();
+	}
 	virtual void    exitPhysics(){}
 	
-	virtual void	physicsDebugDraw(int debugFlags){}
+	virtual void	physicsDebugDraw(int debugFlags)
+	{
+		m_physicsServer.physicsDebugDraw(debugFlags);
+	}
 	virtual bool	mouseMoveCallback(float x,float y){return false;};
 	virtual bool	mouseButtonCallback(int button, int state, float x, float y){return false;}
 	virtual bool	keyboardCallback(int key, int state){return false;}
@@ -104,6 +110,7 @@ void MyCallback2(int buttonId, bool buttonState, void* userPtr)
 	case  CMD_LOAD_URDF:
 		{
 			command.m_type =CMD_LOAD_URDF;
+			command.m_updateFlags = URDF_ARGS_FILE_NAME|URDF_ARGS_INITIAL_POSITION|URDF_ARGS_INITIAL_ORIENTATION;
 			sprintf(command.m_urdfArguments.m_urdfFileName,"r2d2.urdf");
 			command.m_urdfArguments.m_initialPosition[0] = 0.0;
 			command.m_urdfArguments.m_initialPosition[1] = 0.0;
diff --git a/examples/Tutorial/Dof6ConstraintTutorial.cpp b/examples/Tutorial/Dof6ConstraintTutorial.cpp
new file mode 100644
index 000000000..0865b16c7
--- /dev/null
+++ b/examples/Tutorial/Dof6ConstraintTutorial.cpp
@@ -0,0 +1,534 @@
+#include "Dof6ConstraintTutorial.h"
+
+#include "btBulletDynamicsCommon.h"
+#include "BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.h"
+#include "BulletDynamics/MLCPSolvers/btMLCPSolver.h"
+#include "BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h"
+#include "BulletDynamics/MLCPSolvers/btLemkeSolver.h"
+#include "BulletDynamics/MLCPSolvers/btDantzigSolver.h"
+#include "../RenderingExamples/TimeSeriesCanvas.h"
+
+#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h"
+
+
+#ifndef M_PI
+#define M_PI       3.14159265358979323846
+#endif
+
+#ifndef M_PI_2
+#define M_PI_2     1.57079632679489661923
+#endif
+
+#ifndef M_PI_4
+#define M_PI_4     0.785398163397448309616
+#endif
+
+
+extern float g_additionalBodyMass;
+
+//comment this out to compare with original spring constraint
+#define USE_6DOF2
+#ifdef USE_6DOF2
+	#define CONSTRAINT_TYPE btGeneric6DofSpring2Constraint
+	#define EXTRAPARAMS
+#else
+	#define CONSTRAINT_TYPE btGeneric6DofSpringConstraint
+	#define EXTRAPARAMS ,true
+#endif
+
+#include "../CommonInterfaces/CommonRigidBodyBase.h"
+
+
+
+
+struct Dof6ConstraintTutorial : public CommonRigidBodyBase
+{
+	struct Dof6ConstraintTutorialInternalData* m_data;
+
+	Dof6ConstraintTutorial(struct GUIHelperInterface* helper);
+	virtual ~Dof6ConstraintTutorial();
+	virtual void initPhysics();
+
+	virtual void stepSimulation(float deltaTime);
+
+	void animate();
+
+	virtual void resetCamera()
+	{
+		float dist = 5;
+		float pitch = 722;
+		float yaw = 35;
+		float targetPos[3]={4,2,-11};
+		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+	}
+};
+
+
+
+struct Dof6ConstraintTutorialInternalData
+{
+		btRigidBody*              m_TranslateSpringBody;
+	btRigidBody*              m_TranslateSpringBody2;
+	btRigidBody*              m_RotateSpringBody;
+	btRigidBody*              m_RotateSpringBody2;
+	btRigidBody*              m_BouncingTranslateBody;
+	btRigidBody*              m_MotorBody;
+	btRigidBody*              m_ServoMotorBody;
+	btRigidBody*              m_ChainLeftBody;
+	btRigidBody*              m_ChainRightBody;
+	CONSTRAINT_TYPE*          m_ServoMotorConstraint;
+	CONSTRAINT_TYPE*          m_ChainLeftConstraint;
+	CONSTRAINT_TYPE*          m_ChainRightConstraint;
+	
+	TimeSeriesCanvas*			m_timeSeriesCanvas;
+	
+	float mDt;
+
+	unsigned int frameID;
+	Dof6ConstraintTutorialInternalData()
+		:	mDt(1./60.),frameID(0)
+	{
+	}
+};
+
+Dof6ConstraintTutorial::Dof6ConstraintTutorial(struct GUIHelperInterface* helper)
+	:CommonRigidBodyBase(helper)
+{
+	m_data = new Dof6ConstraintTutorialInternalData;
+	m_data->m_timeSeriesCanvas = new TimeSeriesCanvas(helper->get2dCanvasInterface(),256,256,"Position and Velocity");
+	m_data->m_timeSeriesCanvas ->setupTimeSeries(20,100, 0);
+	m_data->m_timeSeriesCanvas->addDataSource("X position (m)", 255,0,0);
+	m_data->m_timeSeriesCanvas->addDataSource("X velocity (m/s)", 0,0,255);
+	m_data->m_timeSeriesCanvas->addDataSource("dX/dt (m/s)", 0,0,0);
+
+}
+Dof6ConstraintTutorial::~Dof6ConstraintTutorial()
+{
+	delete m_data->m_timeSeriesCanvas;
+	m_data->m_timeSeriesCanvas = 0;
+	exitPhysics();
+	delete m_data;
+}
+void Dof6ConstraintTutorial::initPhysics()
+{
+	// Setup the basic world
+	
+	m_guiHelper->setUpAxis(1);
+
+		m_collisionConfiguration = new btDefaultCollisionConfiguration();
+		m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
+		btVector3 worldAabbMin(-10000,-10000,-10000);
+		btVector3 worldAabbMax(10000,10000,10000);
+		m_broadphase = new btAxisSweep3 (worldAabbMin, worldAabbMax);
+
+/////// uncomment the corresponding line to test a solver.
+		//m_solver = new btSequentialImpulseConstraintSolver;
+		m_solver = new btNNCGConstraintSolver;
+		//m_solver = new btMLCPSolver(new btSolveProjectedGaussSeidel());
+		//m_solver = new btMLCPSolver(new btDantzigSolver());
+		//m_solver = new btMLCPSolver(new btLemkeSolver());
+
+		m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
+		m_dynamicsWorld->getDispatchInfo().m_useContinuous = true;
+		m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+	
+		m_dynamicsWorld->setGravity(btVector3(0,0,0));
+
+		// Setup a big ground box
+	if (0)
+		{
+			btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(200.),btScalar(5.),btScalar(200.)));
+			btTransform groundTransform;
+			groundTransform.setIdentity();
+			groundTransform.setOrigin(btVector3(0,-10,0));
+#define CREATE_GROUND_COLLISION_OBJECT 1
+#ifdef CREATE_GROUND_COLLISION_OBJECT
+			btCollisionObject* fixedGround = new btCollisionObject();
+			fixedGround->setCollisionShape(groundShape);
+			fixedGround->setWorldTransform(groundTransform);
+			m_dynamicsWorld->addCollisionObject(fixedGround);
+#else
+			localCreateRigidBody(btScalar(0.),groundTransform,groundShape);
+#endif //CREATE_GROUND_COLLISION_OBJECT
+		}
+
+		m_dynamicsWorld->getSolverInfo().m_numIterations = 100;
+
+		btCollisionShape* shape;
+		btVector3 localInertia(0,0,0);
+		btDefaultMotionState* motionState;
+		btTransform bodyTransform;
+		btScalar mass;
+		btTransform localA;
+		btTransform localB;
+		CONSTRAINT_TYPE* constraint;
+
+
+		//static body centered in the origo
+		mass = 0.0;
+		shape= new btBoxShape(btVector3(0.5,0.5,0.5));
+		localInertia = btVector3(0,0,0);
+		bodyTransform.setIdentity();
+		motionState = new btDefaultMotionState(bodyTransform);
+		btRigidBody* staticBody = new btRigidBody(mass,motionState,shape,localInertia);
+		m_dynamicsWorld->addRigidBody(staticBody);
+
+/////////// box with undamped translate spring attached to static body
+/////////// the box should oscillate left-to-right forever
+		{
+			mass = 1.0;
+			shape= new btBoxShape(btVector3(0.5,0.5,0.5));
+			shape->calculateLocalInertia(mass,localInertia);
+			bodyTransform.setIdentity();
+			bodyTransform.setOrigin(btVector3(-2,0,-5));
+			motionState = new btDefaultMotionState(bodyTransform);
+			m_data->m_TranslateSpringBody = new btRigidBody(mass,motionState,shape,localInertia);
+			m_data->m_TranslateSpringBody->setActivationState(DISABLE_DEACTIVATION);
+			m_dynamicsWorld->addRigidBody(m_data->m_TranslateSpringBody);
+ 			localA.setIdentity();localA.getOrigin() = btVector3(0,0,-5);
+			localB.setIdentity();
+ 			constraint =  new CONSTRAINT_TYPE(*staticBody, *m_data->m_TranslateSpringBody, localA, localB EXTRAPARAMS);
+			constraint->setLimit(0, 1,-1);
+			constraint->setLimit(1, 0, 0);
+			constraint->setLimit(2, 0, 0);
+			constraint->setLimit(3, 0, 0);
+			constraint->setLimit(4, 0, 0);
+			constraint->setLimit(5, 0, 0);
+			constraint->enableSpring(0, true);
+			constraint->setStiffness(0, 100);
+	#ifdef USE_6DOF2
+			constraint->setDamping(0, 0);
+	#else
+			constraint->setDamping(0, 1);
+	#endif
+			constraint->setEquilibriumPoint(0, 0);
+			constraint->setDbgDrawSize(btScalar(2.f));
+			m_dynamicsWorld->addConstraint(constraint, true);  
+		}
+#if 0
+/////////// box with rotate spring, attached to static body
+/////////// box should swing (rotate) left-to-right forever
+		{
+			mass = 1.0;
+			shape= new btBoxShape(btVector3(0.5,0.5,0.5));
+			shape->calculateLocalInertia(mass,localInertia);
+			bodyTransform.setIdentity();
+			bodyTransform.getBasis().setEulerZYX(0,0,M_PI_2);
+			motionState = new btDefaultMotionState(bodyTransform);
+			m_data->m_RotateSpringBody = new btRigidBody(mass,motionState,shape,localInertia);
+			m_data->m_RotateSpringBody->setActivationState(DISABLE_DEACTIVATION);
+			m_dynamicsWorld->addRigidBody(m_data->m_RotateSpringBody);
+			localA.setIdentity();localA.getOrigin() = btVector3(0,0,0);
+			localB.setIdentity();localB.setOrigin(btVector3(0,0.5,0));
+			constraint =  new CONSTRAINT_TYPE(*staticBody, *m_data->m_RotateSpringBody, localA, localB EXTRAPARAMS);
+			constraint->setLimit(0, 0, 0);
+			constraint->setLimit(1, 0, 0);
+			constraint->setLimit(2, 0, 0);
+			constraint->setLimit(3, 0, 0);
+			constraint->setLimit(4, 0, 0);
+			constraint->setLimit(5, 1, -1);
+			constraint->enableSpring(5, true);
+			constraint->setStiffness(5, 100);
+	#ifdef USE_6DOF2
+			constraint->setDamping(5, 0);
+	#else
+			constraint->setDamping(5, 1);
+	#endif
+			constraint->setEquilibriumPoint(0, 0);
+			constraint->setDbgDrawSize(btScalar(2.f));
+			m_dynamicsWorld->addConstraint(constraint, true);
+		}
+
+/////////// box with bouncing constraint, translation is bounced at the positive x limit, but not at the negative limit
+/////////// bouncing can not be set independently at low and high limits, so two constraints will be created: one that defines the low (non bouncing) limit, and one that defines the high (bouncing) limit
+/////////// the box should move to the left (as an impulse will be applied to it periodically) until it reaches its limit, then bounce back 
+		{
+			mass = 1.0;
+			shape= new btBoxShape(btVector3(0.5,0.5,0.5));
+			shape->calculateLocalInertia(mass,localInertia);
+			bodyTransform.setIdentity();
+			bodyTransform.setOrigin(btVector3(0,0,-3));
+			motionState = new btDefaultMotionState(bodyTransform);
+			m_data->m_BouncingTranslateBody = new btRigidBody(mass,motionState,shape,localInertia);
+			m_data->m_BouncingTranslateBody->setActivationState(DISABLE_DEACTIVATION);
+			m_data->m_BouncingTranslateBody->setDeactivationTime(btScalar(20000000));
+			m_dynamicsWorld->addRigidBody(m_data->m_BouncingTranslateBody);
+			localA.setIdentity();localA.getOrigin() = btVector3(0,0,0);
+			localB.setIdentity();
+			constraint =  new CONSTRAINT_TYPE(*staticBody, *m_data->m_BouncingTranslateBody, localA, localB EXTRAPARAMS);
+			constraint->setLimit(0, -2, SIMD_INFINITY);
+			constraint->setLimit(1, 0, 0);
+			constraint->setLimit(2, -3, -3);
+			constraint->setLimit(3, 0, 0);
+			constraint->setLimit(4, 0, 0);
+			constraint->setLimit(5, 0, 0);
+		#ifdef USE_6DOF2
+			constraint->setBounce(0,0);
+		#else //bounce is named restitution in 6dofspring, but not implemented for translational limit motor, so the following line has no effect
+			constraint->getTranslationalLimitMotor()->m_restitution = 0.0;
+		#endif
+			constraint->setParam(BT_CONSTRAINT_STOP_ERP,0.995,0);
+			constraint->setParam(BT_CONSTRAINT_STOP_CFM,0.0,0);
+			constraint->setDbgDrawSize(btScalar(2.f));
+			m_dynamicsWorld->addConstraint(constraint, true);
+			constraint =  new CONSTRAINT_TYPE(*staticBody, *m_data->m_BouncingTranslateBody, localA, localB EXTRAPARAMS);
+			constraint->setLimit(0, -SIMD_INFINITY, 2);
+			constraint->setLimit(1, 0, 0);
+			constraint->setLimit(2, -3, -3);
+			constraint->setLimit(3, 0, 0);
+			constraint->setLimit(4, 0, 0);
+			constraint->setLimit(5, 0, 0);
+		#ifdef USE_6DOF2
+			constraint->setBounce(0,1);
+		#else //bounce is named restitution in 6dofspring, but not implemented for translational limit motor, so the following line has no effect
+			constraint->getTranslationalLimitMotor()->m_restitution = 1.0;
+		#endif
+			constraint->setParam(BT_CONSTRAINT_STOP_ERP,0.995,0);
+			constraint->setParam(BT_CONSTRAINT_STOP_CFM,0.0,0);
+			constraint->setDbgDrawSize(btScalar(2.f));
+			m_dynamicsWorld->addConstraint(constraint, true);
+		}
+
+/////////// box with rotational motor, attached to static body
+/////////// the box should rotate around the y axis
+		{
+			mass = 1.0;
+			shape= new btBoxShape(btVector3(0.5,0.5,0.5));
+			shape->calculateLocalInertia(mass,localInertia);
+			bodyTransform.setIdentity();
+			bodyTransform.setOrigin(btVector3(4,0,0));
+			motionState = new btDefaultMotionState(bodyTransform);
+			m_data->m_MotorBody = new btRigidBody(mass,motionState,shape,localInertia);
+			m_data->m_MotorBody->setActivationState(DISABLE_DEACTIVATION);
+			m_dynamicsWorld->addRigidBody(m_data->m_MotorBody);
+			localA.setIdentity();localA.getOrigin() = btVector3(4,0,0);
+			localB.setIdentity();
+			constraint =  new CONSTRAINT_TYPE(*staticBody, *m_data->m_MotorBody, localA, localB EXTRAPARAMS);
+			constraint->setLimit(0, 0, 0);
+			constraint->setLimit(1, 0, 0);
+			constraint->setLimit(2, 0, 0);
+			constraint->setLimit(3, 0, 0);
+			constraint->setLimit(4, 0, 0);
+			constraint->setLimit(5, 1,-1);
+		#ifdef USE_6DOF2
+			constraint->enableMotor(5,true);
+			constraint->setTargetVelocity(5,3.f);
+			constraint->setMaxMotorForce(5,10.f);
+		#else
+			constraint->getRotationalLimitMotor(2)->m_enableMotor = true;
+			constraint->getRotationalLimitMotor(2)->m_targetVelocity = 3.f;
+			constraint->getRotationalLimitMotor(2)->m_maxMotorForce = 10;
+		#endif
+			constraint->setDbgDrawSize(btScalar(2.f));
+			m_dynamicsWorld->addConstraint(constraint, true);
+		}
+
+/////////// box with rotational servo motor, attached to static body
+/////////// the box should rotate around the y axis until it reaches its target
+/////////// the target will be negated periodically
+		{
+			mass = 1.0;
+			shape= new btBoxShape(btVector3(0.5,0.5,0.5));
+			shape->calculateLocalInertia(mass,localInertia);
+			bodyTransform.setIdentity();
+			bodyTransform.setOrigin(btVector3(7,0,0));
+			motionState = new btDefaultMotionState(bodyTransform);
+			m_data->m_ServoMotorBody = new btRigidBody(mass,motionState,shape,localInertia);
+			m_data->m_ServoMotorBody->setActivationState(DISABLE_DEACTIVATION);
+			m_dynamicsWorld->addRigidBody(m_data->m_ServoMotorBody);
+			localA.setIdentity();localA.getOrigin() = btVector3(7,0,0);
+			localB.setIdentity();
+			constraint =  new CONSTRAINT_TYPE(*staticBody, *m_data->m_ServoMotorBody, localA, localB EXTRAPARAMS);
+			constraint->setLimit(0, 0, 0);
+			constraint->setLimit(1, 0, 0);
+			constraint->setLimit(2, 0, 0);
+			constraint->setLimit(3, 0, 0);
+			constraint->setLimit(4, 0, 0);
+			constraint->setLimit(5, 1,-1);
+		#ifdef USE_6DOF2
+			constraint->enableMotor(5,true);
+			constraint->setTargetVelocity(5,3.f);
+			constraint->setMaxMotorForce(5,10.f);
+			constraint->setServo(5,true);
+			constraint->setServoTarget(5, M_PI_2);
+		#else
+			constraint->getRotationalLimitMotor(2)->m_enableMotor = true;
+			constraint->getRotationalLimitMotor(2)->m_targetVelocity = 3.f;
+			constraint->getRotationalLimitMotor(2)->m_maxMotorForce = 10;
+			//servo motor is not implemented in 6dofspring constraint
+		#endif
+			constraint->setDbgDrawSize(btScalar(2.f));
+			m_dynamicsWorld->addConstraint(constraint, true);
+			m_data->m_ServoMotorConstraint = constraint;
+		}
+
+////////// chain of boxes linked together with fully limited rotational and translational constraints
+////////// the chain will be pulled to the left and to the right periodically. They should strictly stick together.
+		{
+			btScalar limitConstraintStrength = 0.6;
+			int bodycount = 10;
+			btRigidBody* prevBody = 0;
+			for(int i = 0; i < bodycount; ++i)
+			{
+				mass = 1.0;
+				shape= new btBoxShape(btVector3(0.5,0.5,0.5));
+				shape->calculateLocalInertia(mass,localInertia);
+				bodyTransform.setIdentity();
+				bodyTransform.setOrigin(btVector3(- i,0,3));
+				motionState = new btDefaultMotionState(bodyTransform);
+				btRigidBody* body = new btRigidBody(mass,motionState,shape,localInertia);
+				body->setActivationState(DISABLE_DEACTIVATION);
+				m_dynamicsWorld->addRigidBody(body);
+				if(prevBody != 0)
+				{
+					localB.setIdentity();
+					localB.setOrigin(btVector3(0.5,0,0));
+					btTransform localA;
+					localA.setIdentity();
+					localA.setOrigin(btVector3(-0.5,0,0));
+					CONSTRAINT_TYPE* constraint =  new CONSTRAINT_TYPE(*prevBody, *body, localA, localB EXTRAPARAMS);
+					constraint->setLimit(0, -0.01, 0.01);
+					constraint->setLimit(1, 0, 0);
+					constraint->setLimit(2, 0, 0);
+					constraint->setLimit(3, 0, 0);
+					constraint->setLimit(4, 0, 0);
+					constraint->setLimit(5, 0, 0);
+					for(int a = 0; a < 6; ++a)
+					{
+						constraint->setParam(BT_CONSTRAINT_STOP_ERP,0.9,a);
+						constraint->setParam(BT_CONSTRAINT_STOP_CFM,0.0,a);
+					}
+					constraint->setDbgDrawSize(btScalar(1.f));
+					m_dynamicsWorld->addConstraint(constraint, true);
+
+					if(i < bodycount - 1)
+					{
+						localA.setIdentity();localA.getOrigin() = btVector3(0,0,3);
+						localB.setIdentity();
+						CONSTRAINT_TYPE* constraintZY =  new CONSTRAINT_TYPE(*staticBody, *body, localA, localB EXTRAPARAMS);
+						constraintZY->setLimit(0, 1, -1);
+						constraintZY->setDbgDrawSize(btScalar(1.f));
+						m_dynamicsWorld->addConstraint(constraintZY, true);
+						
+					}
+				}
+				else
+				{
+					localA.setIdentity();localA.getOrigin() = btVector3(bodycount,0,3);
+					localB.setIdentity();
+					localB.setOrigin(btVector3(0,0,0));
+					m_data->m_ChainLeftBody = body;
+					m_data->m_ChainLeftConstraint = new CONSTRAINT_TYPE(*staticBody, *body, localA, localB EXTRAPARAMS);
+					m_data->m_ChainLeftConstraint->setLimit(3,0,0);
+					m_data->m_ChainLeftConstraint->setLimit(4,0,0);
+					m_data->m_ChainLeftConstraint->setLimit(5,0,0);
+					for(int a = 0; a < 6; ++a)
+					{
+						m_data->m_ChainLeftConstraint->setParam(BT_CONSTRAINT_STOP_ERP,limitConstraintStrength,a);
+						m_data->m_ChainLeftConstraint->setParam(BT_CONSTRAINT_STOP_CFM,0.0,a);
+					}
+					m_data->m_ChainLeftConstraint->setDbgDrawSize(btScalar(1.f));
+					m_dynamicsWorld->addConstraint(m_data->m_ChainLeftConstraint, true);
+				}
+				prevBody = body;
+			}
+			m_data->m_ChainRightBody = prevBody;
+			localA.setIdentity();localA.getOrigin() = btVector3(-bodycount,0,3);
+			localB.setIdentity();
+			localB.setOrigin(btVector3(0,0,0));
+			m_data->m_ChainRightConstraint = new CONSTRAINT_TYPE(*staticBody, *m_data->m_ChainRightBody, localA, localB EXTRAPARAMS);
+			m_data->m_ChainRightConstraint->setLimit(3,0,0);
+			m_data->m_ChainRightConstraint->setLimit(4,0,0);
+			m_data->m_ChainRightConstraint->setLimit(5,0,0);
+			for(int a = 0; a < 6; ++a)
+			{
+				m_data->m_ChainRightConstraint->setParam(BT_CONSTRAINT_STOP_ERP,limitConstraintStrength,a);
+				m_data->m_ChainRightConstraint->setParam(BT_CONSTRAINT_STOP_CFM,0.0,a);
+			}
+		}
+#endif
+		m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+
+void Dof6ConstraintTutorial::animate()
+{
+	
+/////// servo motor: flip its target periodically
+#ifdef USE_6DOF2
+		static float servoNextFrame = -1;
+		btScalar pos = m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_currentPosition;
+		btScalar target = m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_servoTarget;
+		if(servoNextFrame < 0)
+		{
+			m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_servoTarget *= -1;
+			servoNextFrame = 3.0;
+		}
+		servoNextFrame -= m_data->mDt;
+#endif
+
+/////// constraint chain: pull the chain left and right periodically
+		static float chainNextFrame = -1;
+		static bool left = true;
+		if(chainNextFrame < 0)
+		{
+			if(!left)
+			{
+				m_data->m_ChainRightBody->setActivationState(ACTIVE_TAG);
+				m_dynamicsWorld->removeConstraint(m_data->m_ChainRightConstraint);
+				m_data->m_ChainLeftConstraint->setDbgDrawSize(btScalar(2.f));
+				m_dynamicsWorld->addConstraint(m_data->m_ChainLeftConstraint, true);
+			}
+			else
+			{
+				m_data->m_ChainLeftBody->setActivationState(ACTIVE_TAG);
+				m_dynamicsWorld->removeConstraint(m_data->m_ChainLeftConstraint);
+				m_data->m_ChainRightConstraint->setDbgDrawSize(btScalar(2.f));
+				m_dynamicsWorld->addConstraint(m_data->m_ChainRightConstraint, true);
+			}
+			chainNextFrame = 3.0;
+			left = !left;
+		}
+		chainNextFrame -= m_data->mDt;
+
+/////// bouncing constraint: push the box periodically
+		m_data->m_BouncingTranslateBody->setActivationState(ACTIVE_TAG);
+		static float bounceNextFrame = -1;
+		if(bounceNextFrame < 0)
+		{
+			m_data->m_BouncingTranslateBody->applyCentralImpulse(btVector3(10,0,0));
+			bounceNextFrame = 3.0;
+		}
+		bounceNextFrame -= m_data->mDt;
+
+		m_data->frameID++;
+}
+
+
+void Dof6ConstraintTutorial::stepSimulation(float deltaTime)
+{
+	//animate();
+	
+
+	float time = m_data->m_timeSeriesCanvas->getCurrentTime();
+	
+	float prevPos = m_data->m_TranslateSpringBody->getWorldTransform().getOrigin().x();
+	m_dynamicsWorld->stepSimulation(deltaTime);
+	float xPos = m_data->m_TranslateSpringBody->getWorldTransform().getOrigin().x();
+
+	m_data->m_timeSeriesCanvas->insertDataAtCurrentTime(xPos,0,true);
+	m_data->m_timeSeriesCanvas->insertDataAtCurrentTime(m_data->m_TranslateSpringBody->getLinearVelocity().x(),1,true);
+
+	if (deltaTime>0)
+	{
+		m_data->m_timeSeriesCanvas->insertDataAtCurrentTime((xPos-prevPos)/deltaTime,2,true);
+	}
+	prevPos = xPos;
+	m_data->m_timeSeriesCanvas->nextTick();
+
+}
+
+class CommonExampleInterface*    Dof6ConstraintTutorialCreateFunc( CommonExampleOptions& options)
+{
+	return new Dof6ConstraintTutorial(options.m_guiHelper);
+}
diff --git a/examples/Tutorial/Dof6ConstraintTutorial.h b/examples/Tutorial/Dof6ConstraintTutorial.h
new file mode 100644
index 000000000..90e45351c
--- /dev/null
+++ b/examples/Tutorial/Dof6ConstraintTutorial.h
@@ -0,0 +1,6 @@
+#ifndef GENERIC_6DOF_SPRING2_CONSTRAINT_TUTORIAL_H
+#define GENERIC_6DOF_SPRING2_CONSTRAINT_TUTORIAL_H
+
+class CommonExampleInterface*    Dof6ConstraintTutorialCreateFunc(struct CommonExampleOptions& options);
+
+#endif //GENERIC_6DOF_SPRING2_CONSTRAINT_TUTORIAL_H
diff --git a/examples/Tutorial/Tutorial.cpp b/examples/Tutorial/Tutorial.cpp
index 946139fa6..77b90ba40 100644
--- a/examples/Tutorial/Tutorial.cpp
+++ b/examples/Tutorial/Tutorial.cpp
@@ -7,7 +7,7 @@
 #include "LinearMath/btTransform.h"
 
 #include "../CommonInterfaces/CommonGUIHelperInterface.h"
-
+#include "../RenderingExamples/TimeSeriesCanvas.h"
 #include "stb_image/stb_image.h"
 
 struct LWPose
@@ -109,6 +109,9 @@ class Tutorial : public CommonExampleInterface
     int m_tutorialIndex;
 
 	LWRightBody*	m_body;
+	
+	TimeSeriesCanvas*			m_timeSeriesCanvas;
+	
 
 public:
     
@@ -118,6 +121,13 @@ public:
     {
 		m_app->setUpAxis(2);
 
+		m_timeSeriesCanvas = new TimeSeriesCanvas(app->m_2dCanvasInterface,512,256,"Position and Velocity");
+		m_timeSeriesCanvas ->setupTimeSeries(5,100, 0);
+		m_timeSeriesCanvas->addDataSource("X position (m)", 255,0,0);
+		m_timeSeriesCanvas->addDataSource("X velocity (m/s)", 0,0,255);
+		m_timeSeriesCanvas->addDataSource("dX/dt (m/s)", 0,0,0);
+
+		
 		switch (m_tutorialIndex)
 		{
 				
@@ -173,6 +183,8 @@ public:
     }
     virtual ~Tutorial()
     {
+		delete m_timeSeriesCanvas;
+		m_timeSeriesCanvas = 0;
         m_app->m_renderer->enableBlend(false);
     }
     
@@ -186,8 +198,22 @@ public:
     }
     virtual void	stepSimulation(float deltaTime)
     {
-		//m_body->m_linearVelocity=btVector3(0,0.1,0);
-		m_body->m_angularVelocity =btVector3(0,0.1,0);
+
+		m_body->m_linearVelocity=btVector3(1,0,0);
+
+		
+		float time = m_timeSeriesCanvas->getCurrentTime();
+		
+		float xPos = m_body->m_worldPose.m_worldPosition.x();
+		
+		float xVel = m_body->m_linearVelocity.x();
+		
+		m_timeSeriesCanvas->insertDataAtCurrentTime(xPos,0,true);
+		m_timeSeriesCanvas->insertDataAtCurrentTime(xVel,1,true);
+		
+		m_timeSeriesCanvas->nextTick();
+
+		
 		m_body->integrateTransform(deltaTime);
 
 		m_app->m_renderer->writeSingleInstanceTransformToCPU(m_body->m_worldPose.m_worldPosition, m_body->m_worldPose.m_worldOrientation, m_body->m_graphicsIndex);