diff --git a/src/config/user_config.hpp b/src/config/user_config.hpp
index 38525dc29..a631022ed 100644
--- a/src/config/user_config.hpp
+++ b/src/config/user_config.hpp
@@ -389,6 +389,9 @@ namespace UserConfigParams
     /** Special debug camera being high over the kart. */
     PARAM_PREFIX bool m_camera_debug PARAM_DEFAULT( false );
 
+    /** True if physics debugging should be enabled. */
+    PARAM_PREFIX bool m_physics_debug PARAM_DEFAULT( false );
+
     /** True if slipstream debugging is activated. */
     PARAM_PREFIX bool m_slipstream_debug  PARAM_DEFAULT( false );
 
diff --git a/src/karts/kart_model.cpp b/src/karts/kart_model.cpp
index 443307fd1..9bc181340 100644
--- a/src/karts/kart_model.cpp
+++ b/src/karts/kart_model.cpp
@@ -29,6 +29,7 @@
 #include "graphics/mesh_tools.hpp"
 #include "io/xml_node.hpp"
 #include "karts/kart.hpp"
+#include "physics/btKart.hpp"
 #include "utils/constants.hpp"
 
 #define SKELETON_DEBUG 0
@@ -508,7 +509,9 @@ void KartModel::update(float rotation, float steer, const float suspension[4])
                                                   m_max_suspension[i]);
         float ratio = clamped_suspension[i] / suspension_length;
         const int sign = ratio < 0 ? -1 : 1;
-        ratio = sign * fabsf(ratio*(2-ratio)); // expanded form of 1 - (1 - x)^2, i.e. making suspension display quadratic and not linear
+        // expanded form of 1 - (1 - x)^2, i.e. making suspension display 
+        // quadratic and not linear
+        ratio = sign * fabsf(ratio*(2-ratio));
         clamped_suspension[i] = ratio*suspension_length;
     }   // for i<4
 
@@ -519,6 +522,16 @@ void KartModel::update(float rotation, float steer, const float suspension[4])
     for(unsigned int i=0; i<4; i++)
     {
         if(!m_wheel_node[i]) continue;
+#ifdef DEBUG
+        if(UserConfigParams::m_physics_debug)
+        {
+            // Make wheels that are not touching the ground invisible
+            bool wheel_has_contact = 
+                m_kart->getVehicle()->getWheelInfo(i).m_raycastInfo
+                                                     .m_isInContact;
+            m_wheel_node[i]->setVisible(wheel_has_contact);
+        }
+#endif
         core::vector3df pos =  m_wheel_graphics_position[i].toIrrVector();
         pos.Y += clamped_suspension[i];
         m_wheel_node[i]->setPosition(pos);
diff --git a/src/main.cpp b/src/main.cpp
index 6131c0fd0..b560cba02 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -606,6 +606,11 @@ int handleCmdLine(int argc, char **argv)
         {
             UserConfigParams::m_camera_debug=1;
         }
+        else if(UserConfigParams::m_artist_debug_mode && 
+               !strcmp(argv[i], "--physics-debug"))
+        {
+            UserConfigParams::m_physics_debug=1;
+        }
         else if(!strcmp(argv[i], "--kartsize-debug"))
         {
             for(unsigned int i=0;