diff --git a/TODO.txt b/TODO.txt
index 813113a..c422146 100644
--- a/TODO.txt
+++ b/TODO.txt
@@ -1,6 +1,7 @@
 =========== GENERAL ==============
 
 - fix the ramp map again due to new physics
+- should drifting make a sound?
 - keyboard ghosting is an issue, particularly when initiating drift with brake
   (arrow keys must be used with S for braking for left drift to work) -- think
   about what to do about this? or leave as is?
@@ -63,7 +64,7 @@
 - After adding the non-rotating physics feature, the car now gets funny when
   turned on the roof, once even shot to the ceiling of the map.
 - Managed to get the car stuck in non-rotating state, then after a while get
-  it back by crashing.
+  it back by crashing. MAY BE FIXED NOW, watch if it still happens
 - immediately after starting the map countdown seems to be lower (seems to
   perhaps be caused by nextPhysicsFrameTime, look into it)
 
diff --git a/assets.h b/assets.h
index 3607369..a54c429 100644
--- a/assets.h
+++ b/assets.h
@@ -7027,6 +7027,10 @@ void LCR_loadImage(unsigned int index)
     LCR_currentImage.palette[i] = *LCR_currentImage.image;
     LCR_currentImage.image++;
     LCR_currentImage.palette[i] |= ((uint16_t) (*LCR_currentImage.image)) << 8;
+
+    LCR_currentImage.palette[i] =
+      LCR_CONVERT_COLOR(LCR_currentImage.palette[i]);
+
     LCR_currentImage.image++;
   }
 
@@ -7042,11 +7046,20 @@ void LCR_imageChangeBrightness(int up)
 {
   if (up)
     for (int i = 0; i < 256; ++i)
-      LCR_currentImage.palette[i] |= 0x18e3;
+      LCR_currentImage.palette[i] |=
+#if LCR_SETTING_332_COLOR 
+        0x0024;
+#else
+        0x18e3;
+#endif
   else
     for (int i = 0; i < 256; ++i)
       LCR_currentImage.palette[i] =
+#if LCR_SETTING_332_COLOR
+        LCR_currentImage.palette[i] & 0x00db;
+#else
         ((LCR_currentImage.palette[i] >> 1) & 0x7bef);
+#endif
 }
 
 /**
diff --git a/data b/data
index d6de95e..71ffd2e 100644
--- a/data
+++ b/data
@@ -135,3 +135,12 @@ details
 #RLC1;00LC1;8bd6e314 0000455:0011:0169:0041:00a9:0031:0049:00a1:0059:0051:0059:0031:01e9:0071:0045:0039:00e1:0019:00d1:0079:0041:0049:0021:0049:0031:0039:0031:0069:0071:0029:0041:00c3:0041:00e9:0021:0145:0041:0253:01b1:00b3:0051:00a9:0071:0073:0031:00a3:0021:03b3:0031:00a9:0021:0073:0021
 #RLCtiny5;00LCtiny5;5c14d8b6 0000306:00a1:0083:0041:0019:0051:0049:0041:0029:00a1:00c9:0051:0073:00e1:0019:00e1:0013:0211:0049:0051:0033:0051:0039:00c1:0023:00f1:0049:0041:0033:0071:0013:0041:0053:0061:0093:0041:0043:0041:0175:0041:00a3:0041:00b9:0021
 #BLCtiny5;
+#RLC3;00LC3;cb1b38e6 0000557:0011:00e9:0041:0043:0041:0110:0024:01d5:0021:0203:00b1:0113:0021:0063:0061:00d3:0041:00a3:0051:00d3:0021:0129:00b1:0123:0031:0039:0031:0023:0051:00d3:0031:0033:0061:0073:0061:01e3:00a1:00f3:00a1:00e5:0041:0039:0101:0093:0091:00b3:0051:0633:0031:0093:0031
+#BLC3;
+#RLCtiny2;00LCtiny2;833ee4b2 0000185:01f1:0070:0081:02d0:0114
+#BLCtiny2;
+#RLCtiny2;00LCtiny2;833ee4b2 0000174
+#RLCtiny2;00LCtiny2;833ee4b2 0000174
+#RLCtiny4;00LCtiny4;1787f12a 0000267:0221:0093:0091:00b3:0041:0033:0031:0043:0041:0033:0051:0063:01e2:00a3:00d1:0065:0059:0051:0043:0031:0063:00e1:0163:0031
+#BLCtiny4;
+#RLCtiny4;00LCtiny4;1787f12a 0000184:0011:00c9:0071:0133:0051:0073:00e1:0033:00f1:0053:00a1:0063:0071:0123:0041
diff --git a/frontend_sdl.c b/frontend_sdl.c
index 2b91c7c..1a396c7 100644
--- a/frontend_sdl.c
+++ b/frontend_sdl.c
@@ -18,7 +18,12 @@ SDL_Renderer *renderer;
 SDL_Texture *texture;
 SDL_Surface *screenSurface;
 
-uint16_t screen[LCR_SETTING_RESOLUTION_X * LCR_SETTING_RESOLUTION_Y];
+#if LCR_SETTING_332_COLOR
+uint8_t
+#else
+uint16_t
+#endif
+screen[LCR_SETTING_RESOLUTION_X * LCR_SETTING_RESOLUTION_Y];
 
 FILE *musicFile = 0;
 FILE *dataFile = 0;
@@ -208,7 +213,13 @@ int main(int argc, char *argv[])
   }
 
   texture =
-    SDL_CreateTexture(renderer,SDL_PIXELFORMAT_RGB565,SDL_TEXTUREACCESS_STATIC,
+    SDL_CreateTexture(renderer,
+#if LCR_SETTING_332_COLOR
+    SDL_PIXELFORMAT_RGB332,
+#else
+    SDL_PIXELFORMAT_RGB565,
+#endif
+    SDL_TEXTUREACCESS_STATIC,
     LCR_SETTING_RESOLUTION_X,LCR_SETTING_RESOLUTION_Y);
 
   if (!texture)
@@ -241,7 +252,13 @@ int main(int argc, char *argv[])
     running &= LCR_gameStep(SDL_GetTicks());
 
     SDL_UpdateTexture(texture,NULL,screen,
-      LCR_SETTING_RESOLUTION_X * sizeof(uint16_t));
+      LCR_SETTING_RESOLUTION_X * sizeof(
+#if LCR_SETTING_332_COLOR
+      uint8_t
+#else
+      uint16_t
+#endif
+      ));
 
     SDL_RenderClear(renderer);
     SDL_RenderCopy(renderer,texture,NULL,NULL);
diff --git a/game.h b/game.h
index bc89ed8..223fd61 100644
--- a/game.h
+++ b/game.h
@@ -441,7 +441,8 @@ void _LCR_physicdDebugDrawPixel(uint16_t x, uint16_t y, uint8_t color)
   if (x > 1 && x < LCR_EFFECTIVE_RESOLUTION_X - 2 &&
       y > 1 && y < LCR_EFFECTIVE_RESOLUTION_Y - 2)
   {
-    uint16_t c = 0x8101 | (0x8f1f << (2 * color));
+    uint16_t c = LCR_CONVERT_COLOR(0x8101) |
+      (LCR_CONVERT_COLOR(0x8f1f) << (2 * color));
 
     for (int j = -1; j <= 2; ++j)
       for (int i = -1; i <= 2; ++i)
@@ -1204,10 +1205,11 @@ void LCR_gameDrawPopupMessage(void)
   int textW = LCR_rendererComputeTextWidth(LCR_game.popupStr,_TEXT_SIZE);
 
   LCR_rendererDrawRect((LCR_EFFECTIVE_RESOLUTION_X - textW - 2 * LCR_GUI_GAP)
-    / 2,_OFFSET_V,textW + 2 * LCR_GUI_GAP,textH + 2 * LCR_GUI_GAP,0xffff,1);
+    / 2,_OFFSET_V,textW + 2 * LCR_GUI_GAP,textH + 2 * LCR_GUI_GAP,
+    LCR_CONVERT_COLOR(0xffff),1);
 
   LCR_rendererDrawText(LCR_game.popupStr,(LCR_EFFECTIVE_RESOLUTION_X - textW)
-    / 2,_OFFSET_V + LCR_GUI_GAP,0x0300,_TEXT_SIZE);
+    / 2,_OFFSET_V + LCR_GUI_GAP,LCR_CONVERT_COLOR(0x0300),_TEXT_SIZE);
 
 #undef _OFFSET_V
 #undef _TEXT_SIZE
@@ -1287,12 +1289,13 @@ void LCR_gameDraw3DView(void)
           LCR_rendererComputeTextWidth(str,4)) / 2),
           LCR_EFFECTIVE_RESOLUTION_Y / 2,
           LCR_game.runTime <= LCR_currentMap.targetTime ?
-            0x0700 : 0x4208,4);
+            LCR_CONVERT_COLOR(0x0700) : LCR_CONVERT_COLOR(0x4208),4);
 
       LCR_gameTimeToStr(LCR_currentMap.targetTime * LCR_RACING_TICK_MS,str);
 
       LCR_rendererDrawText(str,LCR_GUI_GAP,LCR_EFFECTIVE_RESOLUTION_Y -
-        LCR_rendererComputeTextHeight(2) - LCR_GUI_GAP,0x4208,2);
+        LCR_rendererComputeTextHeight(2) - LCR_GUI_GAP,
+        LCR_CONVERT_COLOR(0x4208),2);
 
       break;
     }
@@ -1627,11 +1630,14 @@ uint8_t LCR_gameStep(uint32_t time)
     if (LCR_racingGetCarSpeedUnsigned() > 60)
     {
       if (LCR_racingCurrentGroundMaterial() == LCR_BLOCK_MATERIAL_GRASS)
-        LCR_rendererSetParticles(0x538a);
+        LCR_rendererSetParticles(
+          LCR_CONVERT_COLOR(LCR_SETTING_PARTICLE_COLOR_GRASS));
       else if (LCR_racingCurrentGroundMaterial() == LCR_BLOCK_MATERIAL_DIRT)
-        LCR_rendererSetParticles(0x8c2b);
+        LCR_rendererSetParticles(
+          LCR_CONVERT_COLOR(LCR_SETTING_PARTICLE_COLOR_DIRT));
       else if (LCR_racingCarIsDrifting())
-        LCR_rendererSetParticles(0x4208);
+        LCR_rendererSetParticles(
+          LCR_CONVERT_COLOR(LCR_SETTING_PARTICLE_COLOR_DRIFT));
     }
 #endif
 
diff --git a/general.h b/general.h
index c376856..79ba370 100644
--- a/general.h
+++ b/general.h
@@ -27,6 +27,13 @@
 #define LCR_RACING_TICK_MS \
   (100000 / (LCR_RACING_FPS * LCR_SETTING_TIME_MULTIPLIER))
 
+#if LCR_SETTING_332_COLOR
+  #define LCR_CONVERT_COLOR(c) \
+    (((c & 0xe000) >> 8) | ((c & 0x0700) >> 6) | ((c & 0x001f) >> 3))
+#else
+  #define LCR_CONVERT_COLOR(c) c
+#endif
+
 char _LCR_hexDigit(int i)
 {
   return i < 10 ? '0' + i : ('a' - 10 + i);
diff --git a/racing.h b/racing.h
index 6d253b9..17fa27b 100644
--- a/racing.h
+++ b/racing.h
@@ -58,7 +58,7 @@ typedef int32_t LCR_GameUnit;        ///< abstract game unit
 #define LCR_PHYSICS_UNIT             4096 ///< len. of square for phys. engine
   
 #define TPE_RESHAPE_TENSION_LIMIT    3
-#define TPE_RESHAPE_ITERATIONS       3 /**< Empirically tested, seems to have a
+#define TPE_RESHAPE_ITERATIONS       7 /**< Empirically tested, seems to have a
                                           big impact on bugs that happen when
                                           driving onto a curved ramp under
                                           various angles. */
@@ -1444,7 +1444,12 @@ uint32_t LCR_racingStep(unsigned int input)
 
     TPE_Joint joints[LCR_CAR_JOINTS];
 
-    LCR_racing.carBody.flags |= TPE_BODY_FLAG_NONROTATING;
+    if (_LCR_racingCarShapeOK()) // in rare cases this may not hold
+        LCR_racing.carBody.flags |= TPE_BODY_FLAG_NONROTATING;
+    else
+    {
+      LCR_LOG1("car not OK in non-rotating step");
+    }
 
     for (int i = 0; i < LCR_CAR_JOINTS; ++i)
       joints[i] = LCR_racing.carBody.joints[i];
@@ -1459,7 +1464,7 @@ uint32_t LCR_racingStep(unsigned int input)
     }
 
     LCR_racing.carBody.flags &= ~TPE_BODY_FLAG_NONROTATING;
-    
+ 
     TPE_worldStep(&(LCR_racing.physicsWorld)); // normal step
 
     if ((LCR_racing.carBody.flags & TPE_BODY_FLAG_UNRESOLVED) ||
diff --git a/renderer.h b/renderer.h
index a9c28d2..ea90ab2 100644
--- a/renderer.h
+++ b/renderer.h
@@ -328,6 +328,11 @@ void _LCR_pixelFunc3D(S3L_PixelInfo *pixel)
 
     // alter each triangle's color slightly:
     LCR_renderer.flatAndTransparent += pixel->triangleIndex % 4;
+
+#if LCR_SETTING_332_COLOR
+    LCR_renderer.flatAndTransparent =
+      LCR_CONVERT_COLOR(LCR_renderer.flatAndTransparent);
+#endif
   }
 
   LCR_gameDrawPixelXYUnsafe(pixel->x,pixel->y,LCR_renderer.flatAndTransparent);
@@ -359,6 +364,7 @@ void _LCR_pixelFunc3D(S3L_PixelInfo *pixel)
 
 #if (LCR_SETTING_CAR_TINT & 0x7) != 0x07
       for (int i = 0; i < 256; ++i)
+      {
         LCR_currentImage.palette[i] &=
   #if LCR_SETTING_CAR_TINT & 0x01
           0x001f |
@@ -375,7 +381,12 @@ void _LCR_pixelFunc3D(S3L_PixelInfo *pixel)
   #else
           0x1800
   #endif
-        ;
+          ;
+#if LCR_SETTING_332_COLOR
+        LCR_currentImage.palette[i] =
+          LCR_CONVERT_COLOR(LCR_currentImage.palette[i]);
+#endif
+      }
 #endif
     }
     else
@@ -399,14 +410,20 @@ void _LCR_pixelFunc3D(S3L_PixelInfo *pixel)
 #define CL (type ? 0x8210 : 0x0000)
         case LCR_RENDERER_MAT_CP0:
           LCR_renderer.flatAndTransparent = LCR_SETTING_CHECKPOINT_0_COLOR | CL;
+          LCR_renderer.flatAndTransparent =
+            LCR_CONVERT_COLOR(LCR_renderer.flatAndTransparent); 
           break;
 
         case LCR_RENDERER_MAT_CP1:
           LCR_renderer.flatAndTransparent = LCR_SETTING_CHECKPOINT_1_COLOR | CL;
+          LCR_renderer.flatAndTransparent =
+            LCR_CONVERT_COLOR(LCR_renderer.flatAndTransparent); 
           break;
 
         case LCR_RENDERER_MAT_FIN:
           LCR_renderer.flatAndTransparent = LCR_SETTING_FINISH_COLOR | CL;
+          LCR_renderer.flatAndTransparent =
+            LCR_CONVERT_COLOR(LCR_renderer.flatAndTransparent); 
           break;
 #undef CL
 
@@ -1410,7 +1427,7 @@ void LCR_rendererDrawSky(int sky, S3L_Unit offsetH, S3L_Unit offsetV)
 
 #if LCR_SETTING_POTATO_GRAPHICS
   LCR_rendererDrawRect(0,0,LCR_EFFECTIVE_RESOLUTION_X,
-    LCR_EFFECTIVE_RESOLUTION_Y,0x7bfd,0);
+    LCR_EFFECTIVE_RESOLUTION_Y,LCR_CONVERT_COLOR(0xffff),0);
 #else
   int anchorPoint[2], y;
   unsigned long pixelIndex;
@@ -1870,8 +1887,8 @@ void LCR_rendererDrawMenu(const char *tabName,const char **items,
 
   while (i < stripHeight * LCR_EFFECTIVE_RESOLUTION_X)
   {
-    LCR_gameDrawPixel(i,0x4a8c
-#if LCR_SETTING_POTATO_GRAPHICS
+    LCR_gameDrawPixel(i,LCR_CONVERT_COLOR(0x4a8c)
+#if LCR_SETTING_POTATO_GRAPHICS || LCR_SETTING_332_COLOR
       );
 #else
       ^ (effect & 0x41c3));
@@ -1885,7 +1902,7 @@ void LCR_rendererDrawMenu(const char *tabName,const char **items,
 #if LCR_SETTING_POTATO_GRAPHICS
   while (i < stripHeight * LCR_EFFECTIVE_RESOLUTION_X)
   {
-    LCR_gameDrawPixel(i,0x73ae);
+    LCR_gameDrawPixel(i,LCR_CONVERT_COLOR(0x73ae));
     ++i;
   }
 #else
@@ -1898,7 +1915,8 @@ void LCR_rendererDrawMenu(const char *tabName,const char **items,
     {
       LCR_gameDrawPixel(i,(x > LCR_EFFECTIVE_RESOLUTION_X / 4 - limit && 
         (x < LCR_EFFECTIVE_RESOLUTION_X - LCR_EFFECTIVE_RESOLUTION_X / 4 + limit)
-        ? 0x73ae : 0x31a6) + ((x + y) % 8));
+        ? LCR_CONVERT_COLOR(0x73ae) : LCR_CONVERT_COLOR(0x31a6)) +
+        ((x + y) % 8));
       i++;
     }
   }
@@ -1906,11 +1924,11 @@ void LCR_rendererDrawMenu(const char *tabName,const char **items,
 
   while (i < LCR_EFFECTIVE_RESOLUTION_Y * LCR_EFFECTIVE_RESOLUTION_X)
   {
-    LCR_gameDrawPixel(i,0xce9c 
+    LCR_gameDrawPixel(i,LCR_CONVERT_COLOR(0xce9c)
 #if LCR_SETTING_POTATO_GRAPHICS
       );
 #else
-      + (i & 0x1002));
+      + (i & LCR_CONVERT_COLOR(0x1002)));
 #endif
 
     ++i;
@@ -1922,12 +1940,12 @@ void LCR_rendererDrawMenu(const char *tabName,const char **items,
   {
     const char *s = j ? (j <= itemCount ? items[j - 1] : "...") : tabName;
     const char *s2 = s;
-    uint16_t textColor = 0x5aeb;
+    uint16_t textColor = LCR_CONVERT_COLOR(0x5aeb);
 
     while (*s2) // if the item contains '#' (check), we draw it as green
     {
       if (*s2 == '#')
-        textColor = 0x0700;
+        textColor = LCR_CONVERT_COLOR(0x0700);
 
       s2++;
     }
@@ -1944,7 +1962,8 @@ void LCR_rendererDrawMenu(const char *tabName,const char **items,
 
     LCR_rendererDrawText(s,(LCR_EFFECTIVE_RESOLUTION_X -
       LCR_rendererComputeTextWidth(s,_FONT_SIZE)) / 2,i,
-      (j == 0 || j == selectedItem + 1) ? 0xf79c : textColor,_FONT_SIZE);
+      (j == 0 || j == selectedItem + 1) ? LCR_CONVERT_COLOR(0xf79c) :
+        textColor,_FONT_SIZE);
 
     if (j == 0)
       i = stripHeight + stripHeight2;
@@ -1958,11 +1977,12 @@ void LCR_rendererDrawMenu(const char *tabName,const char **items,
 #if !LCR_SETTING_POTATO_GRAPHICS
   LCR_rendererBlitImage(21,(LCR_EFFECTIVE_RESOLUTION_X -
     LCR_IMAGE_SIZE * (stripHeight / LCR_IMAGE_SIZE)) / 2,0,
-    stripHeight / LCR_IMAGE_SIZE,0xffff);
+    stripHeight / LCR_IMAGE_SIZE,LCR_CONVERT_COLOR(0xffff));
 #endif
 
   LCR_rendererDrawText(LCR_texts[LCR_TEXTS_VERSION],
-    LCR_EFFECTIVE_RESOLUTION_X / 64,LCR_EFFECTIVE_RESOLUTION_Y / 64,0xe71c,2);
+    LCR_EFFECTIVE_RESOLUTION_X / 64,LCR_EFFECTIVE_RESOLUTION_Y / 64,
+      LCR_CONVERT_COLOR(0xe71c),2);
  
   LCR_renderer.frame++;
 }
diff --git a/settings.h b/settings.h
index 39cdf70..33da949 100644
--- a/settings.h
+++ b/settings.h
@@ -167,6 +167,12 @@
   #define LCR_SETTING_POTATO_GRAPHICS 0
 #endif
 
+#ifndef LCR_SETTING_332_COLOR
+  /** If turned on, pixel colors will be converted to RGB332 format from the
+    default RGB565 (so that only the lower byte of a color is significant). */
+  #define LCR_SETTING_332_COLOR 0
+#endif
+
 #ifndef LCR_SETTING_MUSIC
   /** Whether to enable in game music. */
   #define LCR_SETTING_MUSIC 1
@@ -246,6 +252,21 @@
   #define LCR_SETTING_PARTICLES 1
 #endif
 
+#ifndef LCR_SETTING_PARTICLE_COLOR_DRIFT
+  /** Color of drifting particle effect. */
+  #define LCR_SETTING_PARTICLE_COLOR_DRIFT 0x4208
+#endif
+
+#ifndef LCR_SETTING_PARTICLE_COLOR_GRASS
+  /** Color of grass particle effect. */
+  #define LCR_SETTING_PARTICLE_COLOR_GRASS 0x5467
+#endif
+
+#ifndef LCR_SETTING_PARTICLE_COLOR_DIRT
+  /** Color of dirt particle effect. */
+  #define LCR_SETTING_PARTICLE_COLOR_DIRT 0x8b84
+#endif
+
 #ifndef LCR_SETTING_ONLY_SMALL_MAPS
   /** Turning this on will only include the small maps in the internal data
     file. This option exists for weak devices that couldn't handle big maps