diff --git a/Extras/MayaPlugin/BulletMayaPlugin.sln b/Extras/MayaPlugin/BulletMayaPlugin.sln
index 2c9a13658..4ac9ee3cb 100644
--- a/Extras/MayaPlugin/BulletMayaPlugin.sln
+++ b/Extras/MayaPlugin/BulletMayaPlugin.sln
@@ -1,29 +1,47 @@
 Microsoft Visual Studio Solution File, Format Version 9.00
 # Visual Studio 2005
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "BulletMayaPlugin", "BulletMayaPlugin.vcproj", "{681412B0-F197-4A2F-9263-DEA2E8690146}"
+	ProjectSection(WebsiteProperties) = preProject
+		Debug.AspNetCompiler.Debug = "True"
+		Release.AspNetCompiler.Debug = "False"
+	EndProjectSection
 	ProjectSection(ProjectDependencies) = postProject
-		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE} = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
-		{ED51AA4D-82EF-089C-CD6D-91CF224E2A9E} = {ED51AA4D-82EF-089C-CD6D-91CF224E2A9E}
-		{B1B5F775-54A9-2437-E4AC-7E817E492142} = {B1B5F775-54A9-2437-E4AC-7E817E492142}
-		{61BD1097-CF2E-B296-DAA9-73A6FE135319} = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
-		{6AB01C9C-9163-F400-B5C3-20D046631E17} = {6AB01C9C-9163-F400-B5C3-20D046631E17}
-		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
 		{A0958CD9-0E39-4A77-3711-9B488F508FBF} = {A0958CD9-0E39-4A77-3711-9B488F508FBF}
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{61BD1097-CF2E-B296-DAA9-73A6FE135319} = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{B1B5F775-54A9-2437-E4AC-7E817E492142} = {B1B5F775-54A9-2437-E4AC-7E817E492142}
+		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE} = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
 	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "libbulletcollision", "..\..\msvc\8\libbulletcollision.vcproj", "{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}"
+	ProjectSection(WebsiteProperties) = preProject
+		Debug.AspNetCompiler.Debug = "True"
+		Release.AspNetCompiler.Debug = "False"
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "libbulletdynamics", "..\..\msvc\8\libbulletdynamics.vcproj", "{61BD1097-CF2E-B296-DAA9-73A6FE135319}"
+	ProjectSection(WebsiteProperties) = preProject
+		Debug.AspNetCompiler.Debug = "True"
+		Release.AspNetCompiler.Debug = "False"
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "libbulletmath", "..\..\msvc\8\libbulletmath.vcproj", "{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}"
+	ProjectSection(WebsiteProperties) = preProject
+		Debug.AspNetCompiler.Debug = "True"
+		Release.AspNetCompiler.Debug = "False"
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "libGIMPACTUtils", "..\..\msvc\8\libGIMPACTUtils.vcproj", "{B1B5F775-54A9-2437-E4AC-7E817E492142}"
-EndProject
-Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "libBulletColladaConverter", "..\..\msvc\8\libBulletColladaConverter.vcproj", "{ED51AA4D-82EF-089C-CD6D-91CF224E2A9E}"
-EndProject
-Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "libcolladadom", "..\..\msvc\8\libcolladadom.vcproj", "{6AB01C9C-9163-F400-B5C3-20D046631E17}"
+	ProjectSection(WebsiteProperties) = preProject
+		Debug.AspNetCompiler.Debug = "True"
+		Release.AspNetCompiler.Debug = "False"
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "liblibxml", "..\..\msvc\8\liblibxml.vcproj", "{A0958CD9-0E39-4A77-3711-9B488F508FBF}"
+	ProjectSection(WebsiteProperties) = preProject
+		Debug.AspNetCompiler.Debug = "True"
+		Release.AspNetCompiler.Debug = "False"
+	EndProjectSection
 EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
@@ -51,14 +69,6 @@ Global
 		{B1B5F775-54A9-2437-E4AC-7E817E492142}.DebugDll|Win32.Build.0 = DebugDll|Win32
 		{B1B5F775-54A9-2437-E4AC-7E817E492142}.ReleaseDll|Win32.ActiveCfg = ReleaseDll|Win32
 		{B1B5F775-54A9-2437-E4AC-7E817E492142}.ReleaseDll|Win32.Build.0 = ReleaseDll|Win32
-		{ED51AA4D-82EF-089C-CD6D-91CF224E2A9E}.DebugDll|Win32.ActiveCfg = DebugDll|Win32
-		{ED51AA4D-82EF-089C-CD6D-91CF224E2A9E}.DebugDll|Win32.Build.0 = DebugDll|Win32
-		{ED51AA4D-82EF-089C-CD6D-91CF224E2A9E}.ReleaseDll|Win32.ActiveCfg = ReleaseDll|Win32
-		{ED51AA4D-82EF-089C-CD6D-91CF224E2A9E}.ReleaseDll|Win32.Build.0 = ReleaseDll|Win32
-		{6AB01C9C-9163-F400-B5C3-20D046631E17}.DebugDll|Win32.ActiveCfg = DebugDll|Win32
-		{6AB01C9C-9163-F400-B5C3-20D046631E17}.DebugDll|Win32.Build.0 = DebugDll|Win32
-		{6AB01C9C-9163-F400-B5C3-20D046631E17}.ReleaseDll|Win32.ActiveCfg = ReleaseDll|Win32
-		{6AB01C9C-9163-F400-B5C3-20D046631E17}.ReleaseDll|Win32.Build.0 = ReleaseDll|Win32
 		{A0958CD9-0E39-4A77-3711-9B488F508FBF}.DebugDll|Win32.ActiveCfg = DebugDll|Win32
 		{A0958CD9-0E39-4A77-3711-9B488F508FBF}.DebugDll|Win32.Build.0 = DebugDll|Win32
 		{A0958CD9-0E39-4A77-3711-9B488F508FBF}.ReleaseDll|Win32.ActiveCfg = ReleaseDll|Win32
diff --git a/Extras/MayaPlugin/bt_solver.cpp b/Extras/MayaPlugin/bt_solver.cpp
index fb1bc80fa..5ffba6cc6 100644
--- a/Extras/MayaPlugin/bt_solver.cpp
+++ b/Extras/MayaPlugin/bt_solver.cpp
@@ -36,6 +36,8 @@ btVector3 maxWorld(10000,10000,10000);
 int maxNumObj=32768;
 
 
+
+
 void bt_solver_t::export_bullet_file(const char* fileName)
 {
 //	ColladaConverter tmpConverter(m_dynamicsWorld.get());
@@ -62,6 +64,36 @@ void bt_solver_t::import_bullet_file(const char* filename)
 }
 
 
+class bt_debug_draw : public btIDebugDraw
+{
+	int m_debugMode;
+public:
+	virtual void	drawLine(const btVector3& from,const btVector3& to,const btVector3& color)
+	{
+		glBegin(GL_LINES);
+			glColor3f(color.getX(), color.getY(), color.getZ());
+			glVertex3d(from.getX(), from.getY(), from.getZ());
+			glVertex3d(to.getX(), to.getY(), to.getZ());
+		glEnd();
+	}
+	virtual void	drawContactPoint(const btVector3& PointOnB,const btVector3& normalOnB,btScalar distance,int lifeTime,const btVector3& color)
+	{
+		return;
+	}
+	virtual void	reportErrorWarning(const char* warningString)
+	{
+		return;
+	}
+	virtual void	draw3dText(const btVector3& location,const char* textString) 
+	{
+		return;
+	}
+	virtual void	setDebugMode(int debugMode) { m_debugMode = debugMode; }
+	virtual int		getDebugMode() const  { return m_debugMode; }
+};
+
+
+
 bt_solver_t::bt_solver_t():
 //            m_broadphase(new btAxisSweep3(minWorld,maxWorld,maxNumObj)),
 	m_broadphase(new btDbvtBroadphase()),  
@@ -80,4 +112,15 @@ bt_solver_t::bt_solver_t():
     m_dynamicsWorld->setGravity(btVector3(0, -9.81f, 0));
 
   //  m_dynamicsWorld->getSolverInfo().m_splitImpulse = true;
+
+	bt_debug_draw* dbgDraw = new bt_debug_draw();
+	m_dynamicsWorld->setDebugDrawer(dbgDraw);
 }
+
+
+void bt_solver_t::debug_draw(int dbgMode)
+{
+	m_dynamicsWorld->getDebugDrawer()->setDebugMode(dbgMode);
+	m_dynamicsWorld->debugDrawWorld();
+}
+
diff --git a/Extras/MayaPlugin/bt_solver.h b/Extras/MayaPlugin/bt_solver.h
index 74abcb91b..bd9eb9efa 100644
--- a/Extras/MayaPlugin/bt_solver.h
+++ b/Extras/MayaPlugin/bt_solver.h
@@ -152,6 +152,8 @@ public:
         m_dynamicsWorld->stepSimulation(dt, 1000, 1.0f / 120.0f);
     }
 
+	virtual void debug_draw(int dbgMode);
+
     virtual void export_bullet_file(const char* fileName);
 
     virtual void import_bullet_file(const char* filename);
diff --git a/Extras/MayaPlugin/constraint/hingeConstraintNode.cpp b/Extras/MayaPlugin/constraint/hingeConstraintNode.cpp
index e080c49b3..1fcce934c 100644
--- a/Extras/MayaPlugin/constraint/hingeConstraintNode.cpp
+++ b/Extras/MayaPlugin/constraint/hingeConstraintNode.cpp
@@ -92,13 +92,13 @@ MStatus hingeConstraintNode::initialize()
     status = addAttribute(ia_damping);
     MCHECKSTATUS(status, "adding damping attribute")
 
-    ia_lowerLimit = fnNumericAttr.create("lowerLimit", "llmt", MFnNumericData::kDouble, -90.0, &status);
+    ia_lowerLimit = fnNumericAttr.create("lowerLimit", "llmt", MFnNumericData::kDouble, 1.0, &status);
     MCHECKSTATUS(status, "creating lower limit attribute")
     fnNumericAttr.setKeyable(true);
     status = addAttribute(ia_lowerLimit);
     MCHECKSTATUS(status, "adding lower limit attribute")
 
-	ia_upperLimit = fnNumericAttr.create("upperLimit", "ulmt", MFnNumericData::kDouble, 90.0, &status);
+	ia_upperLimit = fnNumericAttr.create("upperLimit", "ulmt", MFnNumericData::kDouble, -1.0, &status);
     MCHECKSTATUS(status, "creating upper limit attribute")
     fnNumericAttr.setKeyable(true);
     status = addAttribute(ia_upperLimit);
diff --git a/Extras/MayaPlugin/dSolverCmd.cpp b/Extras/MayaPlugin/dSolverCmd.cpp
index 225fadfb7..9e234a6c4 100644
--- a/Extras/MayaPlugin/dSolverCmd.cpp
+++ b/Extras/MayaPlugin/dSolverCmd.cpp
@@ -106,9 +106,19 @@ dSolverCmd::redoIt()
 	}
     }
 
-    m_dgModifier = new MDGModifier;
+    m_dgModifier = new MDagModifier;
 
-    MObject dSolverObj = m_dgModifier->createNode(dSolverNode::typeId);
+
+    MObject parentObj = m_dgModifier->createNode("transform");
+	m_dgModifier->renameNode(parentObj, "dDebugDraw");
+	m_dgModifier->doIt();
+
+    MObject dSolverObj = m_dgModifier->createNode(dSolverNode::typeId, parentObj, &stat);
+	if(stat != MStatus::kSuccess)
+	{
+		MString errStr = stat.errorString();
+		fprintf(stderr, "ERROR : %s\n", errStr.asChar());
+	}
     m_dgModifier->doIt();
 
     // connect the time attribute
diff --git a/Extras/MayaPlugin/dSolverCmd.h b/Extras/MayaPlugin/dSolverCmd.h
index 92e1dc6fc..93c769e78 100644
--- a/Extras/MayaPlugin/dSolverCmd.h
+++ b/Extras/MayaPlugin/dSolverCmd.h
@@ -50,7 +50,8 @@ public:
 
 protected:
     MArgDatabase *m_argDatabase;
-    MDGModifier *m_dgModifier;
+    MDagModifier *m_dgModifier;
+//    MDGModifier *m_dgModifier;
 };
 
 #endif
diff --git a/Extras/MayaPlugin/dSolverNode.cpp b/Extras/MayaPlugin/dSolverNode.cpp
index b54156e5a..235f571e4 100644
--- a/Extras/MayaPlugin/dSolverNode.cpp
+++ b/Extras/MayaPlugin/dSolverNode.cpp
@@ -77,6 +77,21 @@ MObject dSolverNode::ssSolverType;
 bool	dSolverNode::isStartTime;
 
 
+MObject     dSolverNode::ia_DBG_DrawWireframe;
+MObject     dSolverNode::ia_DBG_DrawAabb;
+MObject     dSolverNode::ia_DBG_DrawFeaturesText;
+MObject     dSolverNode::ia_DBG_DrawContactPoints;
+MObject     dSolverNode::ia_DBG_NoDeactivation;
+MObject     dSolverNode::ia_DBG_NoHelpText;
+MObject     dSolverNode::ia_DBG_DrawText;
+MObject     dSolverNode::ia_DBG_ProfileTimings;
+MObject     dSolverNode::ia_DBG_EnableSatComparison;
+MObject     dSolverNode::ia_DBG_DisableBulletLCP;
+MObject     dSolverNode::ia_DBG_EnableCCD;
+MObject     dSolverNode::ia_DBG_DrawConstraints;
+MObject     dSolverNode::ia_DBG_DrawConstraintLimits;
+MObject     dSolverNode::ia_DBG_FastWireframe;
+
 #define ATTR_POSITION "position"
 //#define ATTR_POSITION_TYPE VECTOR_ATTR
 #define ATTR_VELOCITY "velocity"
@@ -94,6 +109,74 @@ bool	dSolverNode::isStartTime;
 //#define ATTR_IN_RANGLENEXT_TYPE FLOAT_ATTR
 
 
+
+static int getDbgDrawVal(const MObject& thisObj, const MObject& attr, int flag)
+{
+	MPlug plug(thisObj, attr);
+	bool retVal = false;
+	plug.getValue(retVal);
+	return retVal ? (1 << flag) : 0;
+}
+
+
+
+void	dSolverNode::draw(	M3dView & view, const MDagPath & path,
+							M3dView::DisplayStyle style,
+							M3dView::DisplayStatus status )
+{
+    view.beginGL();
+    glPushAttrib( GL_ALL_ATTRIB_BITS );
+
+    glDisable(GL_LIGHTING);
+
+    if( !(status == M3dView::kActive ||
+        status == M3dView::kLead ||
+        status == M3dView::kHilite ||
+        ( style != M3dView::kGouraudShaded && style != M3dView::kFlatShaded )) ) {
+        glColor3f(1.0, 1.0, 0.0); 
+    }
+/*
+    glBegin(GL_LINES);
+
+    glColor3f(1.0, 0.5, 0.5);
+    glVertex3f(0.0, 0.0, 0.0);
+    glColor3f(0.5, 0.5, 1.0);
+    glVertex3f(1.f, 1.f, 1.f);
+
+	glEnd();
+*/
+	MObject thisObject = thisMObject();
+    MFnDagNode fnDagNode(thisObject);
+    MFnTransform fnParentTransform(fnDagNode.parent(0));
+	fnParentTransform.setTranslation(MVector(0.f, 0.f, 0.f), MSpace::kObject); // lock translation
+	fnParentTransform.setRotation(MEulerRotation(0., 0., 0.)); // lock rotation
+	double fixScale[3] = { 1., 1., 1. };  // lock scale
+	fnParentTransform.setScale(fixScale);
+
+
+	int dbgMode = 0;
+	dbgMode |= getDbgDrawVal(thisObject,ia_DBG_DrawWireframe, 0); 
+	dbgMode |= getDbgDrawVal(thisObject,ia_DBG_DrawAabb, 1); 
+	dbgMode |= getDbgDrawVal(thisObject,ia_DBG_DrawFeaturesText, 2); 
+	dbgMode |= getDbgDrawVal(thisObject,ia_DBG_DrawContactPoints, 3); 
+	dbgMode |= getDbgDrawVal(thisObject,ia_DBG_NoDeactivation, 4); 
+	dbgMode |= getDbgDrawVal(thisObject,ia_DBG_NoHelpText, 5); 
+	dbgMode |= getDbgDrawVal(thisObject,ia_DBG_DrawText, 6); 
+	dbgMode |= getDbgDrawVal(thisObject,ia_DBG_ProfileTimings, 7); 
+	dbgMode |= getDbgDrawVal(thisObject,ia_DBG_EnableSatComparison, 8); 
+	dbgMode |= getDbgDrawVal(thisObject,ia_DBG_DisableBulletLCP, 9); 
+	dbgMode |= getDbgDrawVal(thisObject,ia_DBG_EnableCCD, 10); 
+	dbgMode |= getDbgDrawVal(thisObject,ia_DBG_DrawConstraints, 11); 
+	dbgMode |= getDbgDrawVal(thisObject,ia_DBG_DrawConstraintLimits, 12); 
+	dbgMode |= getDbgDrawVal(thisObject,ia_DBG_FastWireframe, 13); 
+	solver_t::debug_draw(dbgMode);
+
+    glPopAttrib();
+    view.endGL();
+
+}
+
+
 static void sceneLoadedCB(void* clientData)
 {
 	dSolverNode::updateAllRigidBodies();
@@ -312,6 +395,65 @@ MStatus dSolverNode::initialize()
     status = addAttribute(ia_splitImpulse);
     MCHECKSTATUS(status, "adding ia_splitImpulse attribute")
 
+	ia_DBG_DrawWireframe = fnNumericAttr.create("drawWireframe", "dwfr", MFnNumericData::kBoolean, false, &status);
+    MCHECKSTATUS(status, "creating ia_DBG_DrawWireframe attribute")
+    status = addAttribute(ia_DBG_DrawWireframe);
+    MCHECKSTATUS(status, "adding ia_DBG_DrawWireframe attribute")
+	ia_DBG_DrawAabb = fnNumericAttr.create("drawAabb", "daabb", MFnNumericData::kBoolean, false, &status);
+	MCHECKSTATUS(status, "creating ia_DBG_DrawAabb attribute")
+	status = addAttribute(ia_DBG_DrawAabb);
+    MCHECKSTATUS(status, "adding ia_DBG_DrawAabb attribute")
+	ia_DBG_DrawFeaturesText = fnNumericAttr.create("drawFeaturesText", "dft", MFnNumericData::kBoolean, false, &status);
+	MCHECKSTATUS(status, "creating ia_DBG_DrawFeaturesText attribute")
+	status = addAttribute(ia_DBG_DrawFeaturesText);
+    MCHECKSTATUS(status, "adding ia_DBG_DrawFeaturesText attribute")
+	ia_DBG_DrawContactPoints = fnNumericAttr.create("drawContactPoints", "dcp", MFnNumericData::kBoolean, false, &status);
+	MCHECKSTATUS(status, "creating ia_DBG_DrawContactPoints attribute")
+	status = addAttribute(ia_DBG_DrawContactPoints);
+    MCHECKSTATUS(status, "adding ia_DBG_DrawContactPoints attribute")
+	ia_DBG_NoDeactivation = fnNumericAttr.create("noDeactivation", "dnda", MFnNumericData::kBoolean, false, &status);
+	MCHECKSTATUS(status, "creating ia_DBG_NoDeactivation attribute")
+	status = addAttribute(ia_DBG_NoDeactivation);
+    MCHECKSTATUS(status, "adding ia_DBG_NoDeactivation attribute")
+	ia_DBG_NoHelpText = fnNumericAttr.create("noHelpText", "dnht", MFnNumericData::kBoolean, false, &status);
+	MCHECKSTATUS(status, "creating ia_DBG_NoHelpText attribute")
+	status = addAttribute(ia_DBG_NoHelpText);
+    MCHECKSTATUS(status, "adding ia_DBG_NoHelpText attribute")
+	ia_DBG_DrawText = fnNumericAttr.create("drawText", "dtxt", MFnNumericData::kBoolean, false, &status);
+	MCHECKSTATUS(status, "creating ia_DBG_DrawText attribute")
+	status = addAttribute(ia_DBG_DrawText);
+    MCHECKSTATUS(status, "adding ia_DBG_DrawText attribute")
+	ia_DBG_ProfileTimings = fnNumericAttr.create("pProfileTimings", "dptm", MFnNumericData::kBoolean, false, &status);
+	MCHECKSTATUS(status, "creating ia_DBG_ProfileTimings attribute")
+	status = addAttribute(ia_DBG_ProfileTimings);
+    MCHECKSTATUS(status, "adding ia_DBG_ProfileTimings attribute")
+	ia_DBG_EnableSatComparison = fnNumericAttr.create("enableSatComparison", "desc", MFnNumericData::kBoolean, false, &status);
+	MCHECKSTATUS(status, "creating ia_DBG_EnableSatComparison attribute")
+	status = addAttribute(ia_DBG_EnableSatComparison);
+    MCHECKSTATUS(status, "adding ia_DBG_EnableSatComparison attribute")
+	ia_DBG_DisableBulletLCP = fnNumericAttr.create("disableBulletLCP", "dblcp", MFnNumericData::kBoolean, false, &status);
+	MCHECKSTATUS(status, "creating ia_DBG_DisableBulletLCP attribute")
+	status = addAttribute(ia_DBG_DisableBulletLCP);
+    MCHECKSTATUS(status, "adding ia_DBG_DisableBulletLCP attribute")
+	ia_DBG_EnableCCD = fnNumericAttr.create("enableCCD", "deccd", MFnNumericData::kBoolean, false, &status);
+	MCHECKSTATUS(status, "creating ia_DBG_EnableCCD attribute")
+	status = addAttribute(ia_DBG_EnableCCD);
+    MCHECKSTATUS(status, "adding ia_DBG_EnableCCD attribute")
+	ia_DBG_DrawConstraints = fnNumericAttr.create("drawConstraints", "dcnst", MFnNumericData::kBoolean, false, &status);
+	MCHECKSTATUS(status, "creating ia_DBG_DrawConstraints attribute")
+	status = addAttribute(ia_DBG_DrawConstraints);
+    MCHECKSTATUS(status, "adding ia_DBG_DrawConstraints attribute")
+	ia_DBG_DrawConstraintLimits = fnNumericAttr.create("drawConstraintLimits", "dcsl", MFnNumericData::kBoolean, false, &status);
+	MCHECKSTATUS(status, "creating ia_DBG_DrawConstraintLimits attribute")
+	status = addAttribute(ia_DBG_DrawConstraintLimits);
+    MCHECKSTATUS(status, "adding ia_DBG_DrawConstraintLimits attribute")
+	ia_DBG_FastWireframe = fnNumericAttr.create("fastWireframe", "dfwf", MFnNumericData::kBoolean, false, &status);
+	MCHECKSTATUS(status, "creating ia_DBG_FastWireframe attribute")
+	status = addAttribute(ia_DBG_FastWireframe);
+    MCHECKSTATUS(status, "adding ia_DBG_FastWireframe attribute")
+
+
+
     status = attributeAffects(ia_time, oa_rigidBodies);
     MCHECKSTATUS(status, "adding attributeAffects(ia_time, oa_rigidBodies)")
 
diff --git a/Extras/MayaPlugin/dSolverNode.h b/Extras/MayaPlugin/dSolverNode.h
index 2e456b508..bffb5cf71 100644
--- a/Extras/MayaPlugin/dSolverNode.h
+++ b/Extras/MayaPlugin/dSolverNode.h
@@ -31,18 +31,42 @@ Modified by Roman Ponomarev <rponom@gmail.com>
 #include <maya/MString.h>
 #include <maya/MTypeId.h>
 #include <maya/MPxNode.h>
+#include <maya/MPxLocatorNode.h>
 #include <maya/MTime.h>
 
 #include <vector>
 
 #include "mathUtils.h"
 
-class dSolverNode : public MPxNode
+//class dSolverNode : public MPxNode
+class dSolverNode : public MPxLocatorNode
 {
 public:
     dSolverNode();
     virtual ~dSolverNode();
     virtual void postConstructor(); 
+    virtual void	draw(	M3dView & view, const MDagPath & path,
+							M3dView::DisplayStyle style,
+							M3dView::DisplayStatus status );
+
+
+	virtual bool            isBounded() const { 
+		return false; 
+	}
+virtual MBoundingBox boundingBox() const
+{
+    MObject node = thisMObject();
+    MPoint corner1(-1, -1, -1);
+    MPoint corner2(1, 1, 1);
+    return MBoundingBox(corner1, corner2);
+}
+
+    virtual bool        excludeAsLocator() const { 
+		return false; 
+	}
+    virtual bool        isTransparent() const { 
+		return false; 
+	}
 
     static  void *          creator();
     static  MStatus         initialize();
@@ -61,6 +85,22 @@ public:
 
     //Solver Settings
     static  MObject     ssSolverType;
+//
+
+	static  MObject     ia_DBG_DrawWireframe;
+	static  MObject     ia_DBG_DrawAabb;
+	static  MObject     ia_DBG_DrawFeaturesText;
+	static  MObject     ia_DBG_DrawContactPoints;
+	static  MObject     ia_DBG_NoDeactivation;
+	static  MObject     ia_DBG_NoHelpText;
+	static  MObject     ia_DBG_DrawText;
+	static  MObject     ia_DBG_ProfileTimings;
+	static  MObject     ia_DBG_EnableSatComparison;
+	static  MObject     ia_DBG_DisableBulletLCP;
+	static  MObject     ia_DBG_EnableCCD;
+	static  MObject     ia_DBG_DrawConstraints;
+	static  MObject     ia_DBG_DrawConstraintLimits;
+	static  MObject     ia_DBG_FastWireframe;
 
     //
 
@@ -90,7 +130,6 @@ protected:
     void updateActiveRigidBodies(MPlugArray &rbConnections);
     void applyFields(MPlugArray &rbConnections, float dt);
 	void updateConstraint(MObject& bodyNode);
-
 protected:
     MTime m_prevTime;
 };
diff --git a/Extras/MayaPlugin/pluginMain.cpp b/Extras/MayaPlugin/pluginMain.cpp
index 876b12d1f..1cf287db1 100644
--- a/Extras/MayaPlugin/pluginMain.cpp
+++ b/Extras/MayaPlugin/pluginMain.cpp
@@ -135,7 +135,8 @@ MStatus initializePlugin( MObject obj )
     status = plugin.registerNode( dSolverNode::typeName, dSolverNode::typeId,
                                   dSolverNode::creator, 
                                   dSolverNode::initialize,
-                                  MPxNode::kDependNode );
+//                                  MPxNode::kDependNode );
+                                  MPxNode::kLocatorNode );
     MCHECKSTATUS(status, "registering dSolverNode")
 
     status = plugin.registerCommand( dSolverCmd::typeName,
diff --git a/Extras/MayaPlugin/scripts/AEdSolverTemplate.mel b/Extras/MayaPlugin/scripts/AEdSolverTemplate.mel
index 3b283405e..b783f5e21 100644
--- a/Extras/MayaPlugin/scripts/AEdSolverTemplate.mel
+++ b/Extras/MayaPlugin/scripts/AEdSolverTemplate.mel
@@ -40,6 +40,21 @@ global proc AEdSolverTemplate( string $nodeName )
     editorTemplate -addControl startTime;
 
     editorTemplate -addControl rigidBodies;
+    
+	editorTemplate -addControl drawWireframe;
+	editorTemplate -addControl drawAabb;
+	editorTemplate -addControl drawFeaturesText;
+	editorTemplate -addControl drawContactPoints;
+	editorTemplate -addControl noDeactivation;
+	editorTemplate -addControl noHelpText;
+	editorTemplate -addControl drawText;
+	editorTemplate -addControl profileTimings;
+	editorTemplate -addControl enableSatComparison;
+	editorTemplate -addControl disableBulletLCP;
+	editorTemplate -addControl enableCCD;
+	editorTemplate -addControl drawConstraints;
+	editorTemplate -addControl drawConstraintLimits;
+	editorTemplate -addControl fastWireframe;
 
     AEdependNodeTemplate $nodeName;
 
diff --git a/Extras/MayaPlugin/solver.cpp b/Extras/MayaPlugin/solver.cpp
index fe49edf41..7c5ca46de 100644
--- a/Extras/MayaPlugin/solver.cpp
+++ b/Extras/MayaPlugin/solver.cpp
@@ -195,3 +195,9 @@ void solver_t::step_simulation(float dt)
 {
     m_impl->step_simulation(dt);
 }
+
+
+void solver_t::debug_draw(int dbgMode)
+{
+    m_impl->debug_draw(dbgMode);
+}
diff --git a/Extras/MayaPlugin/solver.h b/Extras/MayaPlugin/solver.h
index 13ddd7646..30e6c698c 100644
--- a/Extras/MayaPlugin/solver.h
+++ b/Extras/MayaPlugin/solver.h
@@ -99,6 +99,8 @@ public:
     //
     static void step_simulation(float dt);
 
+	static void debug_draw(int dbgMode);
+
     static shared_ptr<solver_impl_t> get_solver();
 
 private:
diff --git a/Extras/MayaPlugin/solver_impl.h b/Extras/MayaPlugin/solver_impl.h
index 653476ec7..a0d4a9d3f 100644
--- a/Extras/MayaPlugin/solver_impl.h
+++ b/Extras/MayaPlugin/solver_impl.h
@@ -83,6 +83,8 @@ public:
 
     virtual void step_simulation(float dt) = 0;
 
+	virtual void debug_draw(int dbgMode) {}
+
 public:
     virtual ~solver_impl_t() { }
 };
diff --git a/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp b/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
index c055392ae..172e36910 100644
--- a/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
+++ b/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
@@ -49,7 +49,7 @@ m_useLinearReferenceFrameA(useLinearReferenceFrameA),
 m_useOffsetForConstraintFrame(D6_USE_FRAME_OFFSET),
 m_useSolveConstraintObsolete(D6_USE_OBSOLETE_METHOD)
 {
-
+	calculateTransforms();
 }
 
 
@@ -62,6 +62,7 @@ btGeneric6DofConstraint::btGeneric6DofConstraint(btRigidBody& rbB, const btTrans
 {
 	///not providing rigidbody A means implicitly using worldspace for body A
 	m_frameInA = rbB.getCenterOfMassTransform() * m_frameInB;
+	calculateTransforms();
 }
 
 
diff --git a/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp b/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp
index 1b1de2647..30b89b705 100755
--- a/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp
+++ b/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp
@@ -64,7 +64,7 @@ void btSliderConstraint::initParams()
 
 	m_useLinearReferenceFrameA = USE_OFFSET_FOR_CONSTANT_FRAME;
 
-
+	calculateTransforms(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
 }