diff --git a/Demos/AllBulletDemos/Main.cpp b/Demos/AllBulletDemos/Main.cpp
index 16038eda8..6371d22da 100644
--- a/Demos/AllBulletDemos/Main.cpp
+++ b/Demos/AllBulletDemos/Main.cpp
@@ -24,6 +24,12 @@
 
 #include "DemoApplication.h"
 #include "DemoEntries.h"
+#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
+
+#include "GLDebugDrawer.h"
+
+static GLDebugDrawer gDebugDrawer;
+
 
 namespace
 {
@@ -42,8 +48,13 @@ namespace
 	float viewX = 0.0f;
 	float viewY = 0.0f;
 	int tx, ty, tw, th;
+	int	gDrawAabb=0;
+	int	gDebugDraw=0;
+	int	gDebugContacts=0;
+	int gDebugNoDeactivation = 0;
 }
 
+
 void Resize(int w, int h)
 {
 	width = w;
@@ -61,6 +72,18 @@ void Resize(int w, int h)
 		demo->reshape(w, h);
 }
 
+DemoApplication* CreatDemo(btDemoEntry* entry)
+{
+	DemoApplication* demo = entry->createFcn();
+	btAssert(demo);
+	if (demo->getDynamicsWorld())
+	{
+		demo->getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
+	}
+	return demo;
+
+}
+
 /*b2Vec2 ConvertScreenToWorld(int x, int y)
 {
 	b2Vec2 p;
@@ -91,6 +114,45 @@ void SimulationLoop()
 
 	//test->SetTextLine(30);
 	//test->Step(&settings);
+	//sync debugging options
+	if (gDrawAabb)
+	{ 
+		demo->setDebugMode(demo->getDebugMode() |btIDebugDraw::DBG_DrawAabb);
+	} else
+	{
+		demo->setDebugMode(demo->getDebugMode() & (~btIDebugDraw::DBG_DrawAabb));
+	}
+	if (gDebugDraw)
+	{
+		demo->setDebugMode(demo->getDebugMode() |btIDebugDraw::DBG_DrawWireframe);
+	} else
+	{
+		demo->setDebugMode(demo->getDebugMode() & (~btIDebugDraw::DBG_DrawWireframe));
+
+	}
+	if (gDebugContacts)
+	{
+		demo->setDebugMode(demo->getDebugMode() |btIDebugDraw::DBG_DrawContactPoints);
+	} else
+	{
+		demo->setDebugMode(demo->getDebugMode() & (~btIDebugDraw::DBG_DrawContactPoints));
+	}
+
+	if (gDebugNoDeactivation)
+	{
+		demo->setDebugMode(demo->getDebugMode() |btIDebugDraw::DBG_NoDeactivation);
+	} else
+	{
+		demo->setDebugMode(demo->getDebugMode() & (~btIDebugDraw::DBG_NoDeactivation));
+	}
+
+	if (demo->getDynamicsWorld()->getWorldType() == BT_DISCRETE_DYNAMICS_WORLD)
+	{
+		btDiscreteDynamicsWorld* discreteWorld = (btDiscreteDynamicsWorld*) demo->getDynamicsWorld();
+		discreteWorld->getSolverInfo().m_numIterations = iterationCount;
+	}
+
+
 	demo->clientMoveAndDisplay();
 
 
@@ -103,7 +165,7 @@ void SimulationLoop()
 		testIndex = testSelection;
 		delete demo;
 		entry = g_demoEntries + testIndex;
-		demo = entry->createFcn();
+		demo = CreatDemo(entry);
 		viewZoom = 20.0f;
 		viewX = 0.0f;
 		viewY = 0.0f;
@@ -123,7 +185,7 @@ void Keyboard(unsigned char key, int x, int y)
 		// Press 'r' to reset.
 	case 'r':
 		delete demo;
-		demo = entry->createFcn();
+		demo = CreatDemo(entry);
 		Resize(width,height);
 		break;
 
@@ -170,8 +232,8 @@ int main(int argc, char** argv)
 	//glutSetOption (GLUT_ACTION_ON_WINDOW_CLOSE, GLUT_ACTION_GLUTMAINLOOP_RETURNS);
 
 	entry = g_demoEntries + testIndex;
-	demo = entry->createFcn();
-
+	demo = CreatDemo(entry);
+	
 	glutDisplayFunc(SimulationLoop);
 	GLUI_Master.set_glutReshapeFunc(Resize);  
 	GLUI_Master.set_glutKeyboardFunc(Keyboard);
@@ -193,22 +255,27 @@ int main(int argc, char** argv)
 		glui->add_spinner("Iterations", GLUI_SPINNER_INT, &iterationCount);
 	iterationSpinner->set_int_limits(1, 100);
 
-	GLUI_Spinner* hertzSpinner =
+/*	GLUI_Spinner* hertzSpinner =
 		glui->add_spinner("Hertz", GLUI_SPINNER_FLOAT, &hz);
 	hertzSpinner->set_float_limits(5.0f, 200.0f);
+*/
 
 //	glui->add_checkbox("Position Correction", &settings.enablePositionCorrection);
 //	glui->add_checkbox("Warm Starting", &settings.enablePositionCorrection);
+	glui->add_checkbox("DisableDeactivation", &gDebugNoDeactivation);
 
 	glui->add_separator();
 
 	GLUI_Panel* drawPanel =	glui->add_panel("Draw");
-//	glui->add_checkbox_to_panel(drawPanel, "AABBs", &settings.drawAABBs);
-//	glui->add_checkbox_to_panel(drawPanel, "Pairs", &settings.drawPairs);
-//	glui->add_checkbox_to_panel(drawPanel, "Contacts", &settings.drawContacts);
+
+	glui->add_checkbox_to_panel(drawPanel, "AABBs", &gDrawAabb);
+	glui->add_checkbox_to_panel(drawPanel, "DebugDrawer", &gDebugDraw);
+	glui->add_checkbox_to_panel(drawPanel, "Contacts", &gDebugContacts);
+
 //	glui->add_checkbox_to_panel(drawPanel, "Impulses", &settings.drawImpulses);
 //	glui->add_checkbox_to_panel(drawPanel, "Statistics", &settings.drawStats);
 
+
 	int testCount = 0;
 	btDemoEntry* e = g_demoEntries;
 	while (e->createFcn)
diff --git a/Demos/BasicDemo/BasicDemo.cpp b/Demos/BasicDemo/BasicDemo.cpp
index 1e33be9e9..3538983b2 100644
--- a/Demos/BasicDemo/BasicDemo.cpp
+++ b/Demos/BasicDemo/BasicDemo.cpp
@@ -121,6 +121,9 @@ void BasicDemo::displayCallback(void) {
 void	BasicDemo::initPhysics()
 {
 
+	setCameraDistance(btScalar(50.));
+
+
 	btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
 
 #ifdef USE_PARALLEL_DISPATCHER
diff --git a/Demos/BasicDemo/main.cpp b/Demos/BasicDemo/main.cpp
index 4118c90df..09c575885 100644
--- a/Demos/BasicDemo/main.cpp
+++ b/Demos/BasicDemo/main.cpp
@@ -23,7 +23,7 @@ int main(int argc,char** argv)
 
 	BasicDemo ccdDemo;
 	ccdDemo.initPhysics();
-	ccdDemo.setCameraDistance(btScalar(50.));
+
 
 #ifdef CHECK_MEMORY_LEAKS
 	ccdDemo.exitPhysics();
diff --git a/Demos/BspDemo/BspDemo.cpp b/Demos/BspDemo/BspDemo.cpp
index 8ba38b3e2..f6012eae8 100644
--- a/Demos/BspDemo/BspDemo.cpp
+++ b/Demos/BspDemo/BspDemo.cpp
@@ -101,6 +101,8 @@ void	BspDemo::initPhysics(char* bspfilename)
 	m_cameraUp = btVector3(0,0,1);
 	m_forwardAxis = 1;
 
+	setCameraDistance(22.f);
+
 	///Setup a Physics Simulation Environment
 
 	btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
diff --git a/Demos/BspDemo/main.cpp b/Demos/BspDemo/main.cpp
index 46e9f32e3..44115df6f 100644
--- a/Demos/BspDemo/main.cpp
+++ b/Demos/BspDemo/main.cpp
@@ -47,7 +47,7 @@ int main(int argc,char** argv)
 	// Enrico: TODO: Should change parameter type of initPhysics() to std::string or at least const char *
 	bspDemo->initPhysics((char*)bspfilename);
 	
-	bspDemo->setCameraDistance(22.f);
+	
 
 	return glutmain(argc, argv,640,480,"Bullet Quake BSP Physics Viewer http://bullet.sourceforge.net",bspDemo);
 }
diff --git a/Demos/ConstraintDemo/ConstraintDemo.cpp b/Demos/ConstraintDemo/ConstraintDemo.cpp
index 56de0223f..0c58ec5d5 100644
--- a/Demos/ConstraintDemo/ConstraintDemo.cpp
+++ b/Demos/ConstraintDemo/ConstraintDemo.cpp
@@ -63,6 +63,8 @@ void	drawLimit()
 
 void	ConstraintDemo::initPhysics()
 {
+	setCameraDistance(26.f);
+
 //	btCollisionShape* groundShape = new btBoxShape(btVector3(50,3,50));
 	btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
 	btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collisionConfiguration);
diff --git a/Demos/ConstraintDemo/main.cpp b/Demos/ConstraintDemo/main.cpp
index f02a61b8f..2e07ec8d3 100644
--- a/Demos/ConstraintDemo/main.cpp
+++ b/Demos/ConstraintDemo/main.cpp
@@ -8,7 +8,7 @@ int main(int argc,char** argv)
 
         constraintDemo->initPhysics();
 
-        constraintDemo->setCameraDistance(26.f);
+       
 
         return glutmain(argc, argv,640,480,"Constraint Demo. http://www.continuousphysics.com/Bullet/phpBB2/",constraintDemo);
 }
diff --git a/Demos/ConvexDecompositionDemo/ConvexDecompositionDemo.cpp b/Demos/ConvexDecompositionDemo/ConvexDecompositionDemo.cpp
index 8caead641..e1f49e6a5 100644
--- a/Demos/ConvexDecompositionDemo/ConvexDecompositionDemo.cpp
+++ b/Demos/ConvexDecompositionDemo/ConvexDecompositionDemo.cpp
@@ -66,6 +66,8 @@ GLDebugDrawer debugDrawer;
 
 void ConvexDecompositionDemo::initPhysics(const char* filename)
 {
+	setCameraDistance(26.f);
+
 	ConvexDecomposition::WavefrontObj wo;
 
 	tcount = wo.loadObj(filename);
diff --git a/Demos/ConvexDecompositionDemo/main.cpp b/Demos/ConvexDecompositionDemo/main.cpp
index ba7855d3e..3739033b0 100644
--- a/Demos/ConvexDecompositionDemo/main.cpp
+++ b/Demos/ConvexDecompositionDemo/main.cpp
@@ -17,7 +17,7 @@ int main(int argc,char** argv)
 
         convexDecompDemo->clientResetScene();
 
-        convexDecompDemo->setCameraDistance(26.f);
+       
 
         return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://www.continuousphysics.com/Bullet/phpBB2/",convexDecompDemo);
 }
diff --git a/Demos/GimpactTestDemo/GimpactTestDemo.cpp b/Demos/GimpactTestDemo/GimpactTestDemo.cpp
index 5cf14c19c..b55bbb54d 100644
--- a/Demos/GimpactTestDemo/GimpactTestDemo.cpp
+++ b/Demos/GimpactTestDemo/GimpactTestDemo.cpp
@@ -405,6 +405,9 @@ btCollisionShape * GimpactConcaveDemo::createBunnyShape()
 //------------------------------------------------------------------------------
 void	GimpactConcaveDemo::initPhysics()
 {
+	setCameraDistance(45.f);
+
+
 	gContactAddedCallback = CustomMaterialCombinerCallback;
 
 
diff --git a/Demos/GimpactTestDemo/main.cpp b/Demos/GimpactTestDemo/main.cpp
index 416d0c7f0..2deb72611 100644
--- a/Demos/GimpactTestDemo/main.cpp
+++ b/Demos/GimpactTestDemo/main.cpp
@@ -8,7 +8,6 @@ int main(int argc,char** argv)
 
         GimpactConcaveDemo* concaveDemo = new GimpactConcaveDemo();  /// This will not be Deleted!!!
         concaveDemo->initPhysics();
-        concaveDemo->setCameraDistance(45.f);
-
+       
         return glutmain(argc, argv,640,480,"DevO,s GIMPACT Test Demo",concaveDemo);
 }
diff --git a/Demos/GjkConvexCastDemo/LinearConvexCastDemo.cpp b/Demos/GjkConvexCastDemo/LinearConvexCastDemo.cpp
index 2c4969c01..d70176ebc 100644
--- a/Demos/GjkConvexCastDemo/LinearConvexCastDemo.cpp
+++ b/Demos/GjkConvexCastDemo/LinearConvexCastDemo.cpp
@@ -60,7 +60,8 @@ void DrawRasterizerLine(float const* , float const*, int)
 
 void LinearConvexCastDemo::initPhysics()
 {
-	setCameraDistance(30.f);
+
+	setCameraDistance(50.f);
 	tr[0].setOrigin(btVector3(0,0,0));
 	tr[1].setOrigin(btVector3(0,10,0));
 
diff --git a/Demos/OpenGL/DemoApplication.cpp b/Demos/OpenGL/DemoApplication.cpp
index 72f2ace68..8bcafaef6 100644
--- a/Demos/OpenGL/DemoApplication.cpp
+++ b/Demos/OpenGL/DemoApplication.cpp
@@ -372,6 +372,14 @@ void DemoApplication::keyboardCallback(unsigned char key, int x, int y)
 
 }
 	
+void	DemoApplication::setDebugMode(int mode)
+{
+	m_debugMode = mode;
+	if (getDynamicsWorld() && getDynamicsWorld()->getDebugDrawer())
+		getDynamicsWorld()->getDebugDrawer()->setDebugMode(mode);
+}
+
+
 void DemoApplication::specialKeyboardUp(int key, int x, int y)
 {
 
diff --git a/Demos/OpenGL/DemoApplication.h b/Demos/OpenGL/DemoApplication.h
index 2f58ef679..8ab18e616 100644
--- a/Demos/OpenGL/DemoApplication.h
+++ b/Demos/OpenGL/DemoApplication.h
@@ -100,11 +100,8 @@ public:
 		return m_debugMode ;
 	}
 	
-	void	setDebugMode(int mode)
-	{
-		m_debugMode = mode;
-	}
-
+	void	setDebugMode(int mode);
+	
 	
 	void	setCameraUp(const btVector3& camUp)
 	{
diff --git a/Demos/RagdollDemo/RagdollDemo.cpp b/Demos/RagdollDemo/RagdollDemo.cpp
index 91dcbbf15..503953d5d 100644
--- a/Demos/RagdollDemo/RagdollDemo.cpp
+++ b/Demos/RagdollDemo/RagdollDemo.cpp
@@ -307,6 +307,8 @@ void RagdollDemo::initPhysics()
 {
 	// Setup the basic world
 
+	setCameraDistance(btScalar(5.));
+
 	btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
 
 	btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collisionConfiguration);
diff --git a/Demos/RagdollDemo/main.cpp b/Demos/RagdollDemo/main.cpp
index 1897939dc..8123671c4 100644
--- a/Demos/RagdollDemo/main.cpp
+++ b/Demos/RagdollDemo/main.cpp
@@ -7,7 +7,7 @@ int main(int argc,char* argv[])
         RagdollDemo demoApp;
 
         demoApp.initPhysics();
-        demoApp.setCameraDistance(btScalar(10.));
+       
 
         return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bullet.sf.net",&demoApp);
 }
diff --git a/Demos/VehicleDemo/VehicleDemo.cpp b/Demos/VehicleDemo/VehicleDemo.cpp
index 67db2bd41..3c9ef5e05 100644
--- a/Demos/VehicleDemo/VehicleDemo.cpp
+++ b/Demos/VehicleDemo/VehicleDemo.cpp
@@ -541,11 +541,13 @@ void VehicleDemo::specialKeyboard(int key, int x, int y)
     case GLUT_KEY_UP :
 		{
 			gEngineForce = maxEngineForce;
+			gBreakingForce = 0.f;
 		break;
 		}
 	case GLUT_KEY_DOWN :
 		{			
 			gBreakingForce = maxBreakingForce; 
+			gEngineForce = 0.f;
 		break;
 		}
 	default:
diff --git a/src/BulletDynamics/Dynamics/btContinuousDynamicsWorld.h b/src/BulletDynamics/Dynamics/btContinuousDynamicsWorld.h
index f92f503dd..ba3843566 100644
--- a/src/BulletDynamics/Dynamics/btContinuousDynamicsWorld.h
+++ b/src/BulletDynamics/Dynamics/btContinuousDynamicsWorld.h
@@ -36,6 +36,11 @@ class btContinuousDynamicsWorld : public btDiscreteDynamicsWorld
 
 		virtual void	calculateTimeOfImpacts(btScalar timeStep);
 
+		virtual btDynamicsWorldType	getWorldType() const
+		{
+			return BT_CONTINUOUS_DYNAMICS_WORLD;
+		}
+
 };
 
 #endif //BT_CONTINUOUS_DYNAMICS_WORLD_H
diff --git a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
index b03660436..7364c4cd6 100644
--- a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
+++ b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
@@ -153,6 +153,11 @@ public:
 		return m_solverInfo;
 	}
 
+	virtual btDynamicsWorldType	getWorldType() const
+	{
+		return BT_DISCRETE_DYNAMICS_WORLD;
+	}
+
 
 };
 
diff --git a/src/BulletDynamics/Dynamics/btDynamicsWorld.h b/src/BulletDynamics/Dynamics/btDynamicsWorld.h
index e26085878..aaf734a09 100644
--- a/src/BulletDynamics/Dynamics/btDynamicsWorld.h
+++ b/src/BulletDynamics/Dynamics/btDynamicsWorld.h
@@ -22,6 +22,13 @@ class btRaycastVehicle;
 class btConstraintSolver;
 
 
+enum btDynamicsWorldType
+{
+	BT_SIMPLE_DYNAMICS_WORLD=1,
+	BT_DISCRETE_DYNAMICS_WORLD=2,
+	BT_CONTINUOUS_DYNAMICS_WORLD=3
+};
+
 ///btDynamicsWorld is the baseclass for several dynamics implementation, basic, discrete, parallel, and continuous
 class btDynamicsWorld : public btCollisionWorld
 {
@@ -74,6 +81,8 @@ class btDynamicsWorld : public btCollisionWorld
 		
 		virtual const btTypedConstraint* getConstraint(int index) const	{	(void)index;	return 0;	}
 
+		virtual btDynamicsWorldType	getWorldType() const=0;
+
 };
 
 #endif //BT_DYNAMICS_WORLD_H
diff --git a/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h b/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h
index 784380c98..b65d4db86 100644
--- a/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h
+++ b/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h
@@ -79,6 +79,11 @@ public:
 
 	virtual btConstraintSolver* getConstraintSolver();
 
+	virtual btDynamicsWorldType	getWorldType() const
+	{
+		return BT_SIMPLE_DYNAMICS_WORLD;
+	}
+
 };
 
 #endif //BT_SIMPLE_DYNAMICS_WORLD_H