diff --git a/Demos3/bullet2/BasicDemo/main.cpp b/Demos3/bullet2/BasicDemo/main.cpp
index 8d90b8416..c9265f958 100644
--- a/Demos3/bullet2/BasicDemo/main.cpp
+++ b/Demos3/bullet2/BasicDemo/main.cpp
@@ -66,9 +66,19 @@ class BasicDemo : public Bullet2RigidBodyDemo
 {
 	SimpleOpenGL3App* m_glApp;
 
+	btRigidBody*	m_pickedBody;
+	btTypedConstraint* m_pickedConstraint;
+	btVector3 m_oldPickingPos;
+	btVector3 m_hitPos;
+	btScalar m_oldPickingDist;
+
+
+
 public:
 	BasicDemo(SimpleOpenGL3App* app)
-	:m_glApp(app)
+	:m_glApp(app),
+	m_pickedBody(0),
+	m_pickedConstraint(0)
 	{
 	}
 	virtual ~BasicDemo()
@@ -141,7 +151,7 @@ public:
 						curColor&=3;
 						startTransform.setOrigin(btVector3(
 											btScalar(2.0*i),
-											btScalar(1+2.0*k),
+											btScalar(20+2.0*k),
 											btScalar(2.0*j)));
 
 						m_glApp->m_instancingRenderer->registerGraphicsInstance(cubeShapeId,startTransform.getOrigin(),startTransform.getRotation(),color,halfExtents);
@@ -179,12 +189,193 @@ public:
 
 		m_glApp->m_instancingRenderer->renderScene();
 	}
+
+	btVector3	getRayTo(int x,int y)
+	{
+		if (!m_glApp->m_instancingRenderer)
+		{
+			btAssert(0);
+			return btVector3(0,0,0);
+		}
+
+		float top = 1.f;
+		float bottom = -1.f;
+		float nearPlane = 1.f;
+		float tanFov = (top-bottom)*0.5f / nearPlane;
+		float fov = b3Scalar(2.0) * b3Atan(tanFov);
+
+		btVector3 camPos,camTarget;
+		m_glApp->m_instancingRenderer->getCameraPosition(camPos);
+		m_glApp->m_instancingRenderer->getCameraTargetPosition(camTarget);
+
+		btVector3	rayFrom = camPos;
+		btVector3 rayForward = (camTarget-camPos);
+		rayForward.normalize();
+		float farPlane = 10000.f;
+		rayForward*= farPlane;
+
+		btVector3 rightOffset;
+		btVector3 m_cameraUp=btVector3(0,1,0);
+		btVector3 vertical = m_cameraUp;
+
+		btVector3 hor;
+		hor = rayForward.cross(vertical);
+		hor.normalize();
+		vertical = hor.cross(rayForward);
+		vertical.normalize();
+
+		float tanfov = tanf(0.5f*fov);
+
+
+		hor *= 2.f * farPlane * tanfov;
+		vertical *= 2.f * farPlane * tanfov;
+
+		b3Scalar aspect;
+		float width = m_glApp->m_instancingRenderer->getScreenWidth();
+		float height = m_glApp->m_instancingRenderer->getScreenHeight();
+
+		aspect =  width / height;
+	
+		hor*=aspect;
+
+
+		btVector3 rayToCenter = rayFrom + rayForward;
+		btVector3 dHor = hor * 1.f/width;
+		btVector3 dVert = vertical * 1.f/height;
+
+
+		btVector3 rayTo = rayToCenter - 0.5f * hor + 0.5f * vertical;
+		rayTo += btScalar(x) * dHor;
+		rayTo -= btScalar(y) * dVert;
+		return rayTo;
+	}
+
+	
+	bool	mouseMoveCallback(float x,float y)
+	{
+//		if (m_data->m_altPressed!=0 || m_data->m_controlPressed!=0)
+	//		return false;
+		
+		if (m_pickedBody  && m_pickedConstraint)
+		{
+			btPoint2PointConstraint* pickCon = static_cast<btPoint2PointConstraint*>(m_pickedConstraint);
+			if (pickCon)
+			{
+				//keep it at the same picking distance
+				btVector3 newRayTo = getRayTo(x,y);
+				btVector3 rayFrom;
+				btVector3 oldPivotInB = pickCon->getPivotInB();
+				btVector3 newPivotB;
+				m_glApp->m_instancingRenderer->getCameraPosition(rayFrom);
+				btVector3 dir = newRayTo-rayFrom;
+				dir.normalize();
+				dir *= m_oldPickingDist;
+
+				newPivotB = rayFrom + dir;
+				pickCon->setPivotB(newPivotB);
+			}
+		}
+		
+		return false;
+	}
+	bool	mouseButtonCallback(int button, int state, float x, float y)
+	{
+
+		if (state==1)
+		{
+			if(button==0)// && (m_data->m_altPressed==0 && m_data->m_controlPressed==0))
+			{
+				btVector3 camPos;
+				m_glApp->m_instancingRenderer->getCameraPosition(camPos);
+
+				btVector3 rayFrom = camPos;
+				btVector3 rayTo = getRayTo(x,y);
+
+				btCollisionWorld::ClosestRayResultCallback rayCallback(rayFrom,rayTo);
+				m_dynamicsWorld->rayTest(rayFrom,rayTo,rayCallback);
+				if (rayCallback.hasHit())
+				{
+
+					btVector3 pickPos = rayCallback.m_hitPointWorld;
+					btRigidBody* body = (btRigidBody*)btRigidBody::upcast(rayCallback.m_collisionObject);
+					if (body)
+					{
+						//other exclusions?
+						if (!(body->isStaticObject() || body->isKinematicObject()))
+						{
+							m_pickedBody = body;
+							m_pickedBody->setActivationState(DISABLE_DEACTIVATION);
+							//printf("pickPos=%f,%f,%f\n",pickPos.getX(),pickPos.getY(),pickPos.getZ());
+							btVector3 localPivot = body->getCenterOfMassTransform().inverse() * pickPos;
+							btPoint2PointConstraint* p2p = new btPoint2PointConstraint(*body,localPivot);
+							m_dynamicsWorld->addConstraint(p2p,true);
+							m_pickedConstraint = p2p;
+							btScalar mousePickClamping = 30.f;
+							p2p->m_setting.m_impulseClamp = mousePickClamping;
+							//very weak constraint for picking
+							p2p->m_setting.m_tau = 0.001f;
+						}
+					}
+
+
+//					pickObject(pickPos, rayCallback.m_collisionObject);
+					m_oldPickingPos = rayTo;
+					m_hitPos = pickPos;
+					m_oldPickingDist  = (pickPos-rayFrom).length();
+//					printf("hit !\n");
+				//add p2p
+				}
+				
+			}
+		} else
+		{
+			if (button==0)
+			{
+				if (m_pickedConstraint)
+				{
+					m_dynamicsWorld->removeConstraint(m_pickedConstraint);
+					delete m_pickedConstraint;
+					m_pickedConstraint=0;
+					m_pickedBody = 0;
+				}
+				//remove p2p
+			}
+		}
+
+		//printf("button=%d, state=%d\n",button,state);
+		return false;
+	}
+
 	void	stepSimulation()
 	{
 		m_dynamicsWorld->stepSimulation(1./60,0);
 	}
 };
 
+
+
+BasicDemo* sDemo = 0;
+
+static void MyMouseMoveCallback( float x, float y)
+{
+	bool handled = false;
+	if (sDemo)
+		handled = sDemo->mouseMoveCallback(x,y);
+	if (!handled)
+		b3DefaultMouseMoveCallback(x,y);
+}
+static void MyMouseButtonCallback(int button, int state, float x, float y)
+{
+	bool handled = false;
+	//try picking first
+	if (sDemo)
+		handled = sDemo->mouseButtonCallback(button,state,x,y);
+
+	if (!handled)
+		b3DefaultMouseButtonCallback(button,state,x,y);
+}
+
+
 int main(int argc, char* argv[])
 {
 	
@@ -201,8 +392,12 @@ int main(int argc, char* argv[])
 	app->m_instancingRenderer->setCameraPitch(0);
 	app->m_instancingRenderer->setCameraTargetPosition(b3MakeVector3(0,0,0));
 
+	app->m_window->setMouseMoveCallback(MyMouseMoveCallback);
+	app->m_window->setMouseButtonCallback(MyMouseButtonCallback);
+
 	BasicDemo* demo = new BasicDemo(app);
 	demo->initPhysics();
+	sDemo = demo;
 
 	GLint err = glGetError();
     assert(err==GL_NO_ERROR);