diff --git a/Box2D/Dynamics/Joints/b2RigidPlasticJoint.cpp b/Box2D/Dynamics/Joints/b2RigidPlasticJoint.cpp
index f660eb9f0..8a9d34d1a 100644
--- a/Box2D/Dynamics/Joints/b2RigidPlasticJoint.cpp
+++ b/Box2D/Dynamics/Joints/b2RigidPlasticJoint.cpp
@@ -157,52 +157,50 @@ void b2RigidPlasticJoint::SolveVelocityConstraints(const b2SolverData& data)
 	Cdot.SetZero();
 	impulse.SetZero();
 	float32 h = data.step.dt;
-	if (!isOverLoaded()) {
-		/** Adapted from b2Friction.cpp
-		* 
-		*/
-		// Solve linear part
-		b2Vec2 lCdot = vB + b2Cross(wB, m_rB) - vA - b2Cross(wA, m_rA);
-		if (lCdot.LengthSquared() > 0.f) {
-			b2Vec2 lImpulse = -b2Mul(m_linearMass, lCdot);
-			b2Vec2 oldLImpulse = m_linearImpulse;
-			m_linearImpulse += lImpulse;
-			if (m_linearImpulse.LengthSquared() > m_maxForce.LengthSquared())
-			{
-				m_linearImpulse.Normalize();
-				m_linearImpulse *= m_maxForce.Length();
-			}
-			impulse.x = m_linearImpulse.x - oldLImpulse.x;
-			impulse.y = m_linearImpulse.y - oldLImpulse.y;
-			Cdot.x = lCdot.x;
-			Cdot.y = lCdot.y;
-			wA += m_invIA * b2Cross(m_rA, lImpulse);
-			wB += m_invIB * b2Cross(m_rB, lImpulse);
-		}
-		// Solve angular part
-		float32 aCdot = wB - wA - m_dw0;
-		if (b2Abs(aCdot) > 0.f) {
-			float32 aImpulse = -m_angularMass * aCdot;
-			float32 oldAImpulse = m_angularImpulse;
-			float32 maxImpulse = h * m_maxTorque;
-			m_angularImpulse = b2Clamp
-			(m_angularImpulse + aImpulse, -maxImpulse, maxImpulse);
-			aImpulse = m_angularImpulse - oldAImpulse;
-			impulse.z = aImpulse;
+	/** Adapted from b2Friction.cpp
+	*
+	*/
+	// Solve linear part
+	b2Vec2 lCdot = vB + b2Cross(wB, m_rB) - vA - b2Cross(wA, m_rA);
+	if (lCdot.LengthSquared() > 0.f) {
+		b2Vec2 lImpulse = -b2Mul(m_linearMass, lCdot);
+		b2Vec2 oldLImpulse = m_linearImpulse;
+		m_linearImpulse += lImpulse;
+		if (m_linearImpulse.LengthSquared() > m_maxForce.LengthSquared())
+		{
+			m_linearImpulse.Normalize();
+			m_linearImpulse *= m_maxForce.Length();
 		}
-		Cdot.z = aCdot;
-		m_impulse += impulse;
+		impulse.x = m_linearImpulse.x - oldLImpulse.x;
+		impulse.y = m_linearImpulse.y - oldLImpulse.y;
+		Cdot.x = lCdot.x;
+		Cdot.y = lCdot.y;
+		wA += m_invIA * b2Cross(m_rA, lImpulse);
+		wB += m_invIB * b2Cross(m_rB, lImpulse);
+	}
+	// Solve angular part
+	float32 aCdot = wB - wA - m_dw0;
+	if (b2Abs(aCdot) > 0.f) {
+		float32 aImpulse = -m_angularMass * aCdot;
+		float32 oldAImpulse = m_angularImpulse;
+		float32 maxImpulse = h * m_maxTorque;
+		m_angularImpulse = b2Clamp
+		(m_angularImpulse + aImpulse, -maxImpulse, maxImpulse);
+		aImpulse = m_angularImpulse - oldAImpulse;
+		impulse.z = aImpulse;
+	}
+	Cdot.z = aCdot;
+	m_impulse += impulse;
 #ifdef EP_LOG
-		if (epLogActive && epLogEnabled) {
-			if (b2Dot(Cdot, Cdot) > 0.f) {
-				epLog("RPJ:VC:%d Cdot=%g %g %g\n", id,
-					Cdot.x, Cdot.y, Cdot.z);
-				epLog("RPJ:VC:%d impulse=%g %g %g\n", id,
-					impulse.x, impulse.y, impulse.z);
-			}
+	if (epLogActive && epLogEnabled) {
+		if (b2Dot(Cdot, Cdot) > 0.f) {
+			epLog("RPJ:VC:%d Cdot=%g %g %g\n", id,
+				Cdot.x, Cdot.y, Cdot.z);
+			epLog("RPJ:VC:%d impulse=%g %g %g\n", id,
+				impulse.x, impulse.y, impulse.z);
 		}
-#endif
 	}
+#endif
 	if (nullptr != debugListener) {
 		debugListener->EndVelocityIteration(this, data);
 	}
diff --git a/ep/ep/Beam.h b/ep/ep/Beam.h
index 91014786a..5720448d7 100644
--- a/ep/ep/Beam.h
+++ b/ep/ep/Beam.h
@@ -58,7 +58,10 @@ namespace {
 }
 
 namespace bo {
-	int b1,b2,b3;
+	int b1,b2,b3,b4;
+	void reset() {
+		b1 =b2=b3=b4= 0;
+	}
 }
 
 
@@ -105,6 +108,9 @@ class Beam : public Test
 			m_bombSpawnPoint = settings->bombSpawnPoint;
 			LaunchBomb();
 		}
+		if (bo::b4) {
+			AddMass(settings->addMassPoint);
+		}
 	}
 	bool showMenu = true;
 	virtual void Ui(){
@@ -276,13 +282,11 @@ void Beam::BeamExtraUi()
 	if (ImGui::CollapsingHeader("BeamOptions", 0, true, openLists)) {
 		float32 uihx=0.f,by=0.f;
 		if (ImGui::Button("None")) {
-			bo::b1 = 0;
-			bo::b2 = 0;
-			bo::b3 = 0;
+			bo::reset();
 		}
 		if (ImGui::RadioButton("B1-1", &bo::b1,1)) {
-			bo::b2 = 0;
-			bo::b3 = 0;
+			bo::reset();
+			bo::b1 = 1;
 			uihx = 10;
 			by = 27.01f;
 			settings->epDebugSteps = 10;
@@ -297,8 +301,8 @@ hx=10\n\
 		}
 		ImGui::SameLine();
 		if (ImGui::RadioButton("B1-2", &bo::b1,2)) {
-			bo::b2 = 0;
-			bo::b3 = 0;
+			bo::reset();
+			bo::b1 = 2;
 			uihx = 3;
 			by = 13.01f;
 			settings->epDebugSteps = 10;
@@ -337,8 +341,8 @@ hx=3\n\
 			restartPending = true;
 		}
 		if (ImGui::RadioButton("B2-1", &bo::b2, 1)) {
-			bo::b1 = 0;
-			bo::b3 = 0;
+			bo::reset();
+			bo::b2 = 1;
 			uihx = 1.f;
 			epLogEnabled = true;
 		}
@@ -366,8 +370,8 @@ hx=1\n\
 			restartPending = true;
 		}
 		if (ImGui::RadioButton("B3-1", &bo::b3, 1)) {
-			bo::b1 = 0;
-			bo::b2 = 0;
+			bo::reset();
+			bo::b3 = 1;
 			uihx = 40.f;
 			epLogEnabled = true;
 		}
@@ -382,8 +386,8 @@ epDebug and log active\n\
 		}
 		ImGui::SameLine();
 		if (ImGui::RadioButton("B3-11", &bo::b3, 11)) {
-			bo::b1 = 0;
-			bo::b2 = 0;
+			bo::reset();
+			bo::b3 =11;
 			uihx = 40.f;
 			epLogEnabled = true;
 		}
@@ -398,8 +402,8 @@ epDebug and log active\n\
 		}
 		ImGui::SameLine();
 		if (ImGui::RadioButton("B3-2", &bo::b3, 2)) {
-			bo::b1 = 0;
-			bo::b2 = 0;
+			bo::reset();
+			bo::b3 = 2;
 			uihx = 10.f;
 			epLogEnabled = false;
 		}
@@ -435,6 +439,38 @@ epDebug and log not active\n\
 			openLists = true;
 			restartPending = true;
 		}
+		if (ImGui::RadioButton("B4-1", &bo::b4, 1)) {
+			bo::reset();
+			bo::b4 = 1;
+			uihx = 10.f;
+			epLogEnabled = true;
+		}
+		if (ImGui::IsItemHovered()) {
+			ImGui::SetTooltip("Horizontal\n\
+rigidPlastic\n\
+hx=10\n\
+1 10 m body\n\
+epLog active\n\
+addMass=500 000\n\
+addMassPoint=(10,29)\n\
+");
+		}
+		if (bo::b4 && uihx != 0.f) {
+			settings->pause = true;
+			hx = uihx;
+			so_count =1;
+			horizontal = true;
+			addSoft = false;
+			addHard = false;
+			addFriction = false;
+			addElasticPlastic = false;
+			addRigidPlastic = true;
+			firstIsHinge = false;
+			openLists = true;
+			restartPending = true;
+			settings->addMassPoint = b2Vec2(10, 29);
+			settings->addMass = 500000;
+		}
 	}
 }
 
diff --git a/ep/ep/Main.cpp b/ep/ep/Main.cpp
index 2812ca029..85c83192f 100644
--- a/ep/ep/Main.cpp
+++ b/ep/ep/Main.cpp
@@ -704,6 +704,18 @@ static void sInterface()
 				settings.addRigidTriangles = false;
 				settings.addEPBeams = false;
 			}
+			if (ImGui::Button("Add at @")) {
+				b2Vec2 p;
+				test->AddMass(settings.addMassPoint);
+			}
+			ImGui::SameLine();
+			float mv[2];
+			mv[0] = settings.addMassPoint.x;
+			mv[1] = settings.addMassPoint.y;
+			if (ImGui::InputFloat2("", mv,3)) {
+				settings.addMassPoint.x = mv[0];
+				settings.addMassPoint.y = mv[1];
+			}
 			if (ImGui::IsItemHovered() && settings.addMasses) {
 				ImGui::SetTooltip("Use ALT-MB1");
 			}
@@ -962,7 +974,9 @@ int main(int, char**)
 			ImGuiWindowFlags_AlwaysAutoResize | ImGuiWindowFlags_NoScrollbar);
 		if (opened){
 			ImGui::SetCursorPos(ImVec2(5, (float)g_camera.m_height - 20));
-			ImGui::Text("%.1f ms, steppedTime=%.4f s", 1000.0 * frameTime, test->steppedTime);
+			b2Vec2 mp = test->GetMouseWorld();
+			ImGui::Text("%.1f ms, steppedTime=%.4f s mouse @(%.3f,%.3f)", 
+				1000.0 * frameTime, test->steppedTime, mp.x,mp.y);
 		}
 		ImGui::End();
 		sSimulate();
diff --git a/ep/ep/Test.h b/ep/ep/Test.h
index 5a210fc16..4dd7c8621 100644
--- a/ep/ep/Test.h
+++ b/ep/ep/Test.h
@@ -122,6 +122,7 @@ struct Settings
 		bombMultiplier = 10;
 		bombVelocity = b2Vec2(5, 0);
 		bombSpawnPoint = b2Vec2(-0.5f*bombWidth, 0.5f*bombWidth);
+		addMassPoint = b2Vec2(0, 0);
 	}
 	float32 hz;
 	float32 mouseJointForceScale; 
@@ -148,6 +149,7 @@ struct Settings
 	float32 targetTime = 60;
 	bool singleStep;
 	bool addRigidTriangles, addMasses, addEPBeams,selectEPJoint; // using ALT-MB1 if active
+	b2Vec2 addMassPoint;
 	float32 addMass = 1000000, addMassSize=2;
 	bool initImpulses;
 	float32 forceScale, momentScale;
@@ -230,6 +232,7 @@ class Test : public b2ContactListener
 		B2_NOT_USED(impulse);
 	};
 	void ShiftOrigin(const b2Vec2& newOrigin);
+	b2Vec2 GetMouseWorld() { return m_mouseWorld; }
 	// ep-start
 	virtual void Ui(){};
 	virtual void UpdateCamera() {};
@@ -323,7 +326,7 @@ class Test : public b2ContactListener
 	b2Vec2 m_bombSpawnPoint;
 	bool m_bombSpawning;
 	b2Vec2 m_bombVelocity;
-	b2Vec2 m_mouseWorld;
+	b2Vec2 m_mouseWorld=b2Vec2(0,0);
 	int32 m_stepCount;
 
 	b2Profile m_maxProfile;