diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vegetation/BaseVegetationActor.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vegetation/BaseVegetationActor.cpp
index bc61a585c..6e4f0bcb3 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vegetation/BaseVegetationActor.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vegetation/BaseVegetationActor.cpp
@@ -10,8 +10,8 @@
 
 void ABaseVegetationActor::BeginPlay()
 {
+  TRACE_CPUPROFILER_EVENT_SCOPE(ABaseVegetationActor::BeginPlay);
   Super::BeginPlay();
-  SetParametersToComponent();
 }
 
 void ABaseVegetationActor::GetParametersFromComponent()
@@ -89,3 +89,20 @@ void ABaseVegetationActor::SetParametersToComponent()
   SpringComponent->bAutoComputeStrength = SpringParameters.bAutoComputeStrength;
 
 }
+
+void ABaseVegetationActor::UpdateSkeletonAndParameters()
+{
+  UActorComponent* Component = 
+      GetComponentByClass(USpringBasedVegetationComponent::StaticClass());
+  USpringBasedVegetationComponent* SpringComponent = 
+      Cast<USpringBasedVegetationComponent>(Component);
+  if (!SpringComponent)
+  {
+    UE_LOG(LogCarla, Error, TEXT("ABaseVegetationActor::UpdateSkeletonAndParameters Component not found"));
+    return;
+  }
+  SetParametersToComponent();
+  SpringComponent->GenerateSkeletonHierarchy();
+  SpringComponent->ComputeSpringStrengthForBranches();
+  GetParametersFromComponent();
+}
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vegetation/BaseVegetationActor.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vegetation/BaseVegetationActor.h
index 82f421a55..a0f8c4660 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vegetation/BaseVegetationActor.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vegetation/BaseVegetationActor.h
@@ -82,14 +82,16 @@ public:
 
   virtual void BeginPlay() override;
 
-  UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Skeleton Bone") 
+  UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Spring Based Vegetation") 
   FSpringBasedVegetationParameters SpringParameters;
 
-  UFUNCTION(BlueprintCallable, CallInEditor)
+  UFUNCTION(BlueprintCallable, CallInEditor, Category = "Spring Based Vegetation")
   void GetParametersFromComponent();
 
-  UFUNCTION(BlueprintCallable)
+  UFUNCTION(BlueprintCallable, CallInEditor, Category = "Spring Based Vegetation")
   void SetParametersToComponent();
 
+  UFUNCTION(BlueprintCallable, CallInEditor, Category = "Spring Based Vegetation")
+  void UpdateSkeletonAndParameters();
 
 };
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vegetation/SpringBasedVegetationComponent.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vegetation/SpringBasedVegetationComponent.cpp
index 0e86d11e9..f30f543bf 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vegetation/SpringBasedVegetationComponent.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vegetation/SpringBasedVegetationComponent.cpp
@@ -10,6 +10,7 @@
 #include "Components/CapsuleComponent.h"
 #include "DrawDebugHelpers.h"
 #include "Kismet/KismetMathLibrary.h"
+#include "BaseVegetationActor.h"
 #include <unordered_set>
 #include <vector>
 #include "carla/rpc/String.h"
@@ -322,6 +323,12 @@ void USpringBasedVegetationComponent::BeginPlay()
     return;
   }
 
+  ABaseVegetationActor* BaseVegetation = Cast<ABaseVegetationActor>(GetOwner());
+  if(BaseVegetation)
+  {
+    BaseVegetation->SetParametersToComponent();
+  }
+
   // set callbacks
   SkeletalMesh->OnComponentHit.AddDynamic(this, &USpringBasedVegetationComponent::OnCollisionEvent);
   
@@ -678,7 +685,7 @@ void USpringBasedVegetationComponent::ResolveContactsAndCollisions(
       const Eigen::Vector3d RepulsionForce = SpringTorque.cross(JointCapsuleVector) * JointCapsuleVector.squaredNorm();
 
       FVector RepulsionForceUE = -ToUnrealVector(RepulsionForce) * 100.f;
-      Primitive->AddForceAtLocation(RepulsionForceUE, CapsuleLocation);
+      Primitive->AddForceAtLocation(RepulsionForceUE, ClosestPointOnCollider);
 
       // force to repel geometry overlapping
       float ForceFactor = 1.f;
@@ -693,9 +700,9 @@ void USpringBasedVegetationComponent::ResolveContactsAndCollisions(
       // const Eigen::Vector3d OverlappingForces = (ColliderPosition - CapsulePosition).normalized() * CollisionForceParameter * ForceFactor;
       // const Eigen::Vector3d OverlappingForces = (ColliderPosition - PointOnCapsulePosition).normalized() * CollisionForceParameter * ForceFactor;
       float Factor = 1.0f - ((JointCollision.Iteration / 100.0f) * RestFactor);
-      const Eigen::Vector3d OverlappingForces = (ColliderPosition - PointOnCapsulePosition).normalized() * CollisionForceParameter * ForceFactor * Factor;
+      const Eigen::Vector3d OverlappingForces = (ColliderPosition - PointOnCapsulePosition).normalized() * CollisionForceParameter * ForceFactor * Factor * Joint.CollisionForceProportionalFactor;
       Primitive->AddForceAtLocation(-ToUnrealVector(OverlappingForces) * 100.f, ClosestPointOnCollider);
-      CollisionTorque += (JointProperties.CenterOfMass - JointGlobalPosition).cross(CollisionImpulse + OverlappingForces);
+      CollisionTorque += (PointOnCapsulePosition - JointGlobalPosition).cross(CollisionImpulse + OverlappingForces);
       JointProperties.Torque += CollisionTorque;
       // COLLISION_LOG(Log, "Joint: %s \n ProjectedSpeed %f, ProportionalFactor %f \n RepulsionForce %s \n", *Joint.JointName,ProjectedSpeed,ProportionalFactor,*EigenToFString(RepulsionForce),*EigenToFString(CollisionTorque));
       //UE_LOG(LogCarla, Display, TEXT("DistanceToCollider: %f, ForceFactor: %f"), DistanceToCollider, ForceFactor);
@@ -714,12 +721,20 @@ void USpringBasedVegetationComponent::ResolveContactsAndCollisions(
 
       if (DebugEnableVisualization)
       {
+        static constexpr float DEBUG_SPHERE_SIZE = 5.0f;
         // drawing
         const FVector Start = Capsule->GetComponentLocation();
         const FVector End = Primitive->GetComponentLocation();
         const FColor LineColor(FColor::Green);
         DrawDebugLine(GetWorld(), Start, End, LineColor, false, 0.1f, 0.0f, 1.f);
-        DrawDebugLine(GetWorld(), CapsuleLocation, CapsuleLocation+RepulsionForceUE.GetSafeNormal()*5.f, FColor::Red, false, 0.1f, 0.0f, 1.f);
+        DrawDebugLine(GetWorld(), ClosestPointOnCollider, ClosestPointOnCollider+RepulsionForceUE.GetSafeNormal()*20.f, FColor::Red, false, 0.1f, 0.0f, 1.f);
+        FVector UEOverlapForces = ToUnrealVector(OverlappingForces)*100.f;
+        DrawDebugLine(GetWorld(), ClosestPointOnCapsule, ClosestPointOnCapsule+UEOverlapForces.GetSafeNormal()*20.f, FColor::Turquoise, false, 0.1f, 0.0f, 1.f);
+        FVector UECOM = ToUnrealVector(JointProperties.CenterOfMass )*100.f;
+        DrawDebugSphere(GetWorld(), UECOM, DEBUG_SPHERE_SIZE, 64, FColor::Emerald);
+        FVector UEJointPos = ToUnrealVector(JointGlobalPosition )*100.f;
+        DrawDebugSphere(GetWorld(), UEJointPos, DEBUG_SPHERE_SIZE, 64, FColor::Purple);
+        DrawDebugLine(GetWorld(), ClosestPointOnCapsule, UEJointPos, FColor::Cyan, false, 0.1f, 0.0f, 1.f);
       }
     }
   }
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vegetation/SpringBasedVegetationComponent.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vegetation/SpringBasedVegetationComponent.h
index f8acd7c80..870d56762 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vegetation/SpringBasedVegetationComponent.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vegetation/SpringBasedVegetationComponent.h
@@ -76,6 +76,8 @@ struct FSkeletonJoint
   TArray<FSkeletonBone> Bones;
   UPROPERTY(VisibleAnywhere, BlueprintReadWrite, Category = "Skeleton Bone")
   FVector ExternalForces = FVector(0,0,0);
+  UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Skeleton Bone")
+  float CollisionForceProportionalFactor = 1.0f;
 };
 
 struct FJointCollision
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CustomTerrainPhysicsComponent.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CustomTerrainPhysicsComponent.cpp
index 89d1c245f..e2295b015 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CustomTerrainPhysicsComponent.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CustomTerrainPhysicsComponent.cpp
@@ -1088,7 +1088,7 @@ void UCustomTerrainPhysicsComponent::BeginPlay()
   DrawDebugInfo = false;
   bUseDynamicModel = false;
   bDisableVehicleGravity = false;
-  NNVerbose = true;
+  NNVerbose = false;
   bUseImpulse = false;
   bUseMeanAcceleration = false;
   bShowForces = true;
@@ -1098,7 +1098,7 @@ void UCustomTerrainPhysicsComponent::BeginPlay()
   ParticleForceMulFactor = 1.f;
   FloorHeight = 0.0;
   bDrawLoadedTiles = false;
-  bUseSoilType = false;
+  bUseSoilType = true;
   EffectMultiplayer = 200.0f;
   MinDisplacement = -10.0f;
   MaxDisplacement = 10.0f;