diff --git a/Demos/AllBulletDemos/Main.cpp b/Demos/AllBulletDemos/Main.cpp
index 6371d22da..df2ffda86 100644
--- a/Demos/AllBulletDemos/Main.cpp
+++ b/Demos/AllBulletDemos/Main.cpp
@@ -146,14 +146,17 @@ void SimulationLoop()
 		demo->setDebugMode(demo->getDebugMode() & (~btIDebugDraw::DBG_NoDeactivation));
 	}
 
-	if (demo->getDynamicsWorld()->getWorldType() == BT_DISCRETE_DYNAMICS_WORLD)
+	if (demo->getDynamicsWorld() && demo->getDynamicsWorld()->getWorldType() == BT_DISCRETE_DYNAMICS_WORLD)
 	{
 		btDiscreteDynamicsWorld* discreteWorld = (btDiscreteDynamicsWorld*) demo->getDynamicsWorld();
 		discreteWorld->getSolverInfo().m_numIterations = iterationCount;
 	}
 
 
-	demo->clientMoveAndDisplay();
+	if (!demo->isIdle())
+		demo->clientMoveAndDisplay();
+	else
+		demo->displayCallback();
 
 
 ///	DrawString(5, 15, entry->name);
diff --git a/Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp b/Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
index ee40f8ecf..e752380fa 100644
--- a/Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
+++ b/Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
@@ -25,6 +25,7 @@ subject to the following restrictions:
 //#define USER_DEFINED_FRICTION_MODEL 1
 //#define USE_CUSTOM_NEAR_CALLBACK 1
 //#define CENTER_OF_MASS_SHIFT 1
+//#define VERBOSE_TIMESTEPPING_CONSOLEOUTPUT 1
 
 //#define USE_PARALLEL_SOLVER 1 //experimental parallel solver
 //#define USE_PARALLEL_DISPATCHER 1
@@ -284,7 +285,8 @@ void CcdPhysicsDemo::clientMoveAndDisplay()
 
 		int numSimSteps = 0;
 		numSimSteps = m_dynamicsWorld->stepSimulation(dt,maxSimSubSteps);
-		/*
+		
+#ifdef VERBOSE_TIMESTEPPING_CONSOLEOUTPUT
 		if (!numSimSteps)
 			printf("Interpolated transforms\n");
 		else
@@ -298,7 +300,7 @@ void CcdPhysicsDemo::clientMoveAndDisplay()
 				printf("Simulated (%i) steps\n",numSimSteps);
 			}
 		}
-		*/
+#endif //VERBOSE_TIMESTEPPING_CONSOLEOUTPUT
 
 #endif
 	}
diff --git a/Demos/OpenGL/DemoApplication.h b/Demos/OpenGL/DemoApplication.h
index 8ab18e616..7d93f3e53 100644
--- a/Demos/OpenGL/DemoApplication.h
+++ b/Demos/OpenGL/DemoApplication.h
@@ -172,6 +172,17 @@ public:
 	void zoomIn();
 	void zoomOut();
 
+	bool	isIdle() const
+	{
+		return	m_idle;
+	}
+
+	void	setIdle(bool idle)
+	{
+		m_idle = idle;
+	}
+
+
 };
 
 #endif //DEMO_APPLICATION_H
diff --git a/src/LinearMath/btTransform.h b/src/LinearMath/btTransform.h
index 2d55fec83..883b3a5d2 100644
--- a/src/LinearMath/btTransform.h
+++ b/src/LinearMath/btTransform.h
@@ -92,13 +92,7 @@ public:
 		m_basis.getRotation(q);
 		return q;
 	}
-	template <typename Scalar2>
-		void setValue(const Scalar2 *m) 
-	{
-		m_basis.setValue(m);
-		m_origin.setValue(&m[12]);
-	}
-
+	
 	
 	void setFromOpenGLMatrix(const btScalar *m)
 	{