diff --git a/Demos/AllBulletDemos/Main.cpp b/Demos/AllBulletDemos/Main.cpp
index d3e7629d9..b8bb5dd23 100644
--- a/Demos/AllBulletDemos/Main.cpp
+++ b/Demos/AllBulletDemos/Main.cpp
@@ -52,6 +52,9 @@ namespace
 	int	gDrawAabb;
 	int	gWireFrame;
 	int	gDebugContacts;
+	int	gDrawTextures=1;
+	int gDrawShadows=0;
+	int gDrawClusters=0;
 	int gDebugNoDeactivation;
 	int	gUseWarmstarting;
 	int	gRandomizeConstraints;
@@ -75,6 +78,10 @@ void	setDefaultSettings()
 	gDrawAabb=0;
 	gWireFrame=0;
 	gDebugContacts=0;
+	gDrawTextures=1;
+	gDrawShadows=0;
+	gDrawClusters=0;
+
 	gDebugNoDeactivation = 0;
 	gUseSplitImpulse = 0;
 	gUseWarmstarting = 1;
@@ -135,6 +142,10 @@ DemoApplication* CreatDemo(btDemoEntry* entry)
 	if (demo->getDynamicsWorld())
 	{
 		demo->getDynamicsWorld()->setDebugDrawer(new GLDebugDrawer());
+		gDrawTextures = demo->getTexturing();
+		gDrawShadows = demo->getShadows();
+		if (glui)
+			glui->sync_live();
 	}
 	
 #ifndef BT_NO_PROFILE
@@ -194,6 +205,9 @@ void SimulationLoop()
 		demo->setDebugMode(demo->getDebugMode() & (~btIDebugDraw::DBG_DrawContactPoints));
 	}
 
+	demo->setTexturing(0!=gDrawTextures);
+	demo->setShadows(0!=gDrawShadows);
+	demo->setDrawClusters(0!=gDrawClusters);
 	
 	if (gDebugNoDeactivation)
 	{
@@ -203,6 +217,9 @@ void SimulationLoop()
 		demo->setDebugMode(demo->getDebugMode() & (~btIDebugDraw::DBG_NoDeactivation));
 	}
 
+	
+
+
 	if (demo->getDynamicsWorld() && demo->getDynamicsWorld()->getWorldType() == BT_DISCRETE_DYNAMICS_WORLD)
 	{
 		btDiscreteDynamicsWorld* discreteWorld = (btDiscreteDynamicsWorld*) demo->getDynamicsWorld();
@@ -285,7 +302,7 @@ void Keyboard(unsigned char key, int x, int y)
 
 		// Press 'r' to reset.
 	case 'r':
-		if (demo->getDynamicsWorld()->getDebugDrawer())
+		if (demo->getDynamicsWorld() && demo->getDynamicsWorld()->getDebugDrawer())
 			delete demo->getDynamicsWorld()->getDebugDrawer();
 		delete demo;
 		demo = CreatDemo(entry);
@@ -413,6 +430,13 @@ int main(int argc, char** argv)
 	glui->add_checkbox_to_panel(drawPanel, "AABBs", &gDrawAabb);
 	glui->add_checkbox_to_panel(drawPanel, "Wireframe", &gWireFrame);
 	glui->add_checkbox_to_panel(drawPanel, "Contacts", &gDebugContacts);
+	glui->add_checkbox_to_panel(drawPanel, "Textures", &gDrawTextures);
+	glui->add_checkbox_to_panel(drawPanel, "Shadows", &gDrawShadows);
+	glui->add_checkbox_to_panel(drawPanel, "Clusters", &gDrawClusters);
+
+
+	
+
 
 //	glui->add_checkbox_to_panel(drawPanel, "Impulses", &settings.drawImpulses);
 //	glui->add_checkbox_to_panel(drawPanel, "Statistics", &settings.drawStats);
diff --git a/Demos/OpenGL/DemoApplication.h b/Demos/OpenGL/DemoApplication.h
index 0dd4e15a9..881daa680 100644
--- a/Demos/OpenGL/DemoApplication.h
+++ b/Demos/OpenGL/DemoApplication.h
@@ -96,12 +96,26 @@ public:
 	{
 		return m_dynamicsWorld;
 	}
-	
+
+	virtual	void setDrawClusters(bool drawClusters)
+	{
+
+	}
+
 	void setOrthographicProjection();
 	void resetPerspectiveProjection();
 	
 	bool	setTexturing(bool enable) { return(m_shapeDrawer.enableTexture(enable)); }
 	bool	setShadows(bool enable)	{ bool p=m_enableshadows;m_enableshadows=enable;return(p); }
+	bool	getTexturing() const
+	{
+		return m_shapeDrawer.hasTextureEnabled();
+	}
+	bool	getShadows() const
+	{
+		return m_enableshadows;
+	}
+
 
 	int		getDebugMode()
 	{
@@ -110,6 +124,10 @@ public:
 	
 	void	setDebugMode(int mode);
 	
+	void	setAzi(float azi)
+	{
+		m_azi = azi;
+	}
 	
 	void	setCameraUp(const btVector3& camUp)
 	{
diff --git a/Demos/OpenGL/GL_ShapeDrawer.h b/Demos/OpenGL/GL_ShapeDrawer.h
index f979a4a57..30eb7a6ca 100644
--- a/Demos/OpenGL/GL_ShapeDrawer.h
+++ b/Demos/OpenGL/GL_ShapeDrawer.h
@@ -51,6 +51,10 @@ class GL_ShapeDrawer
 		void		drawShadow(btScalar* m, const btVector3& extrusion,const btCollisionShape* shape,const btVector3& worldBoundsMin,const btVector3& worldBoundsMax);
 		
 		bool		enableTexture(bool enable) { bool p=m_textureenabled;m_textureenabled=enable;return(p); }
+		bool		hasTextureEnabled() const
+		{
+			return m_textureenabled;
+		}
 		
 		static void		drawCylinder(float radius,float halfHeight, int upAxis);
 		static void		drawCoordSystem();
diff --git a/Demos/RagdollDemo/main.cpp b/Demos/RagdollDemo/main.cpp
index 7c0ad9d1e..13d29e7c2 100644
--- a/Demos/RagdollDemo/main.cpp
+++ b/Demos/RagdollDemo/main.cpp
@@ -1,17 +1,17 @@
-
-#include "RagdollDemo.h"
-#include "GlutStuff.h"
+
+#include "RagdollDemo.h"
+#include "GlutStuff.h"
 #include "GLDebugDrawer.h"
 #include "btBulletDynamicsCommon.h"
 
-GLDebugDrawer	gDebugDrawer;
-
-int main(int argc,char* argv[])
-{
-        RagdollDemo demoApp;
-
-        demoApp.initPhysics();
-		demoApp.getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
-
-        return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bullet.sf.net",&demoApp);
-}
+GLDebugDrawer	gDebugDrawer;
+
+int main(int argc,char* argv[])
+{
+        RagdollDemo demoApp;
+
+        demoApp.initPhysics();
+		demoApp.getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
+
+        return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bullet.sf.net",&demoApp);
+}
diff --git a/Demos/SliderConstraintDemo/SliderConstraintDemo.cpp b/Demos/SliderConstraintDemo/SliderConstraintDemo.cpp
index 834d43f7f..636a2fed9 100755
--- a/Demos/SliderConstraintDemo/SliderConstraintDemo.cpp
+++ b/Demos/SliderConstraintDemo/SliderConstraintDemo.cpp
@@ -134,6 +134,9 @@ static void	drawSlider(btSliderConstraint* pSlider)
 
 void SliderConstraintDemo::initPhysics()
 {
+	setTexturing(true);
+	setShadows(true);
+
 	setCameraDistance(26.f);
 
 	// init world
@@ -154,7 +157,8 @@ void SliderConstraintDemo::initPhysics()
 	m_dynamicsWorld = wp;
 
 	// add floor
-	btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
+	//btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
+	btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
 	m_collisionShapes.push_back(groundShape);
 	btTransform groundTransform;
 	groundTransform.setIdentity();
diff --git a/Demos/SoftDemo/SoftDemo.cpp b/Demos/SoftDemo/SoftDemo.cpp
index f10af9167..896334a3e 100644
--- a/Demos/SoftDemo/SoftDemo.cpp
+++ b/Demos/SoftDemo/SoftDemo.cpp
@@ -1108,6 +1108,7 @@ psb0->appendLinearJoint(lj,psb1);
 //
 static void	Init_ClusterCar(SoftDemo* pdemo)
 {
+	pdemo->setAzi(270);
 const btVector3		origin(100,80,0);
 const btQuaternion	orientation(-SIMD_PI/2,0,0);
 const btScalar	widthf=8;
@@ -1446,6 +1447,19 @@ void	SoftDemo::renderme()
 	
 }
 
+void	SoftDemo::setDrawClusters(bool drawClusters)
+{
+	if (drawClusters)
+	{
+		getSoftDynamicsWorld()->setDrawFlags(getSoftDynamicsWorld()->getDrawFlags()|fDrawFlags::Clusters);
+	} else
+	{
+		getSoftDynamicsWorld()->setDrawFlags(getSoftDynamicsWorld()->getDrawFlags()& (~fDrawFlags::Clusters));
+	}
+}
+
+
+
 void	SoftDemo::keyboardCallback(unsigned char key, int x, int y)
 {
 	switch(key)
@@ -1580,6 +1594,10 @@ void	SoftDemo::initPhysics()
 {
 ///create concave ground mesh
 
+	//reset and disable motorcontrol at the start
+	motorcontrol.goal = 0;
+	motorcontrol.maxtorque = 0;
+	m_azi = 0;
 
 	btCollisionShape* groundShape = 0;
 	bool useConcaveMesh = false;//not ready yet true;
diff --git a/Demos/SoftDemo/SoftDemo.h b/Demos/SoftDemo/SoftDemo.h
index caf050212..3726527a7 100644
--- a/Demos/SoftDemo/SoftDemo.h
+++ b/Demos/SoftDemo/SoftDemo.h
@@ -110,14 +110,16 @@ public:
 		return demo;
 	}
 
-	const btSoftRigidDynamicsWorld*	getSoftDynamicsWorld() const
+	virtual	void setDrawClusters(bool drawClusters);
+
+	virtual const btSoftRigidDynamicsWorld*	getSoftDynamicsWorld() const
 	{
 		///just make it a btSoftRigidDynamicsWorld please
 		///or we will add type checking
 		return (btSoftRigidDynamicsWorld*) m_dynamicsWorld;
 	}
 
-	btSoftRigidDynamicsWorld*	getSoftDynamicsWorld()
+	virtual btSoftRigidDynamicsWorld*	getSoftDynamicsWorld()
 	{
 		///just make it a btSoftRigidDynamicsWorld please
 		///or we will add type checking