diff --git a/data/torus/plane_only.mtl b/data/torus/plane_only.mtl
new file mode 100644
index 000000000..70d3ba1da
--- /dev/null
+++ b/data/torus/plane_only.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
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diff --git a/data/torus/plane_only.obj b/data/torus/plane_only.obj
new file mode 100644
index 000000000..893742a69
--- /dev/null
+++ b/data/torus/plane_only.obj
@@ -0,0 +1,7913 @@
+# Blender v2.77 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/data/torus/torus_only.mtl b/data/torus/torus_only.mtl
new file mode 100644
index 000000000..5361e19b8
--- /dev/null
+++ b/data/torus/torus_only.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
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+Ka 0.000000 0.000000 0.000000
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+Ks 0.800000 0.800000 0.800000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
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diff --git a/data/torus/torus_only.obj b/data/torus/torus_only.obj
new file mode 100644
index 000000000..a6776c93e
--- /dev/null
+++ b/data/torus/torus_only.obj
@@ -0,0 +1,1474 @@
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+# www.blender.org
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diff --git a/data/torus/torus_with_plane.mtl b/data/torus/torus_with_plane.mtl
new file mode 100644
index 000000000..70d3ba1da
--- /dev/null
+++ b/data/torus/torus_with_plane.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
diff --git a/data/torus/torus_with_plane.obj b/data/torus/torus_with_plane.obj
new file mode 100644
index 000000000..b036d9fdd
--- /dev/null
+++ b/data/torus/torus_with_plane.obj
@@ -0,0 +1,9384 @@
+# Blender v2.77 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/data/torus/torus_with_plane.urdf b/data/torus/torus_with_plane.urdf
new file mode 100644
index 000000000..3db35dec2
--- /dev/null
+++ b/data/torus/torus_with_plane.urdf
@@ -0,0 +1,33 @@
+<?xml version="0.0" ?>
+<robot name="cube.urdf">
+  <link name="baseLink">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="1.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value=".1"/>
+       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="torus_with_plane.obj" scale=".3 .3 .3"/>
+      </geometry>
+       <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+	 	<mesh filename="torus_with_plane.obj" scale=".3 .3 .3"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+
diff --git a/data/torus/torus_with_separate_plane.urdf b/data/torus/torus_with_separate_plane.urdf
new file mode 100644
index 000000000..050301f4a
--- /dev/null
+++ b/data/torus/torus_with_separate_plane.urdf
@@ -0,0 +1,48 @@
+<?xml version="0.0" ?>
+<robot name="cube.urdf">
+  <link name="baseLink">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="1.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value=".1"/>
+       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="torus_only.obj" scale=".3 .3 .3"/>
+      </geometry>
+       <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="plane_only.obj" scale=".3 .3 .3"/>
+      </geometry>
+       <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="torus_only.obj" scale=".3 .3 .3"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="plane_only.obj" scale=".3 .3 .3"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+
diff --git a/examples/SharedMemory/PhysicsClientExample.cpp b/examples/SharedMemory/PhysicsClientExample.cpp
index 33849d923..a6aa6aca3 100644
--- a/examples/SharedMemory/PhysicsClientExample.cpp
+++ b/examples/SharedMemory/PhysicsClientExample.cpp
@@ -242,7 +242,7 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
     {
         case  CMD_LOAD_URDF:
         {
-            b3SharedMemoryCommandHandle commandHandle = b3LoadUrdfCommandInit(m_physicsClientHandle, "torus/torus.urdf");
+            b3SharedMemoryCommandHandle commandHandle = b3LoadUrdfCommandInit(m_physicsClientHandle, "torus/torus_with_separate_plane.urdf");
             //setting the initial position, orientation and other arguments are optional
             double startPosX = 0;
             static double startPosY = 0;
diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
index 53d19c503..7afdada11 100644
--- a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
+++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
@@ -36,6 +36,8 @@ subject to the following restrictions:
 #include "../TinyRenderer/model.h"
 #include "../ThirdPartyLibs/stb_image/stb_image.h"
 
+extern int count;
+
 
 enum MyFileType
 {
@@ -721,6 +723,8 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo
         lightColor = m_data->m_lightColor;
     }
     
+    count = 0;
+    
   //  printf("num m_swRenderInstances = %d\n", m_data->m_swRenderInstances.size());
     for (int i=0;i<m_data->m_swRenderInstances.size();i++)
     {
@@ -757,7 +761,48 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo
                     renderObj->m_lightColor = lightColor;
                 }
             }
-            TinyRenderer::renderObject(*renderObj);
+            TinyRenderer::renderObjectDepth(*renderObj);
+        }
+    }
+    
+    count = 0;
+    
+    for (int i=0;i<m_data->m_swRenderInstances.size();i++)
+    {
+        TinyRendererObjectArray** visualArrayPtr = m_data->m_swRenderInstances.getAtIndex(i);
+        if (0==visualArrayPtr)
+            continue;//can this ever happen?
+        TinyRendererObjectArray* visualArray = *visualArrayPtr;
+        
+        btHashPtr colObjHash = m_data->m_swRenderInstances.getKeyAtIndex(i);
+        
+        
+        const btCollisionObject* colObj = (btCollisionObject*) colObjHash.getPointer();
+        
+        for (int v=0;v<visualArray->m_renderObjects.size();v++)
+        {
+            
+            TinyRenderObjectData* renderObj = visualArray->m_renderObjects[v];
+            
+            
+            //sync the object transform
+            const btTransform& tr = colObj->getWorldTransform();
+            tr.getOpenGLMatrix(modelMat);
+            
+            for (int i=0;i<4;i++)
+            {
+                for (int j=0;j<4;j++)
+                {
+                    
+                    renderObj->m_projectionMatrix[i][j] = projMat[i+4*j];
+                    renderObj->m_modelMatrix[i][j] = modelMat[i+4*j];
+                    renderObj->m_viewMatrix[i][j] = viewMat[i+4*j];
+                    renderObj->m_localScaling = colObj->getCollisionShape()->getLocalScaling();
+                    renderObj->m_lightDirWorld = lightDirWorld;
+                    renderObj->m_lightColor = lightColor;
+                }
+            }
+            TinyRenderer::renderObjectShadow(*renderObj);
         }
     }
 	//printf("write tga \n");
diff --git a/examples/TinyRenderer/TinyRenderer.cpp b/examples/TinyRenderer/TinyRenderer.cpp
index d41e6450f..d449e4a3a 100644
--- a/examples/TinyRenderer/TinyRenderer.cpp
+++ b/examples/TinyRenderer/TinyRenderer.cpp
@@ -455,14 +455,13 @@ void TinyRenderer::renderObject(TinyRenderObjectData& renderData)
             count++;
         }
         
-         for (int k = 0; k < 76800; ++k)
-         {
-             if (shadowbuffer[k] > -1e30f+0.00001)
-             {
-                 printf("[%d]: %f\n", k, shadowbuffer[k]);
-             }
-         }
-        
+        for (int k = 0; k < 76800; ++k)
+        {
+            if (shadowbuffer[k] > -1e30f+0.00001)
+            {
+                //printf("[%d]: %f\n", k, shadowbuffer[k]);
+            }
+        }
         
         ShadowShader shadowShader(model, light_dir_local, light_color, modelViewMatrix, lightModelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, localScaling, model->getColorRGBA(), width, height, shadowbuffer);
         
@@ -496,3 +495,102 @@ void TinyRenderer::renderObject(TinyRenderObjectData& renderData)
     }
         
 }
+
+void TinyRenderer::renderObjectDepth(TinyRenderObjectData& renderData)
+{
+    int width = renderData.m_rgbColorBuffer.get_width();
+    int height = renderData.m_rgbColorBuffer.get_height();
+    
+    Vec3f light_dir_local = Vec3f(renderData.m_lightDirWorld[0],renderData.m_lightDirWorld[1],renderData.m_lightDirWorld[2]);
+    Vec3f light_color = Vec3f(renderData.m_lightColor[0],renderData.m_lightColor[1],renderData.m_lightColor[2]);
+    Model* model = renderData.m_model;
+    if (0==model)
+        return;
+    
+    renderData.m_viewportMatrix = viewport(0,0,width, height);
+    
+    b3AlignedObjectArray<float>& zbuffer = renderData.m_depthBuffer;
+    b3AlignedObjectArray<float>& shadowbuffer = renderData.m_shadowBuffer;
+    int* segmentationMaskBufferPtr = (renderData.m_segmentationMaskBufferPtr && renderData.m_segmentationMaskBufferPtr->size())?&renderData.m_segmentationMaskBufferPtr->at(0):0;
+    
+    TGAImage tempFrame(width, height, TGAImage::RGB);
+    TGAImage& frame = renderData.m_rgbColorBuffer;
+    
+    {
+        Matrix lightViewMatrix = lookat(light_dir_local*depth, Vec3f(0.0,0.0,0.0), Vec3f(0.0,0.0,1.0));
+        Matrix lightModelViewMatrix = lightViewMatrix*renderData.m_modelMatrix;
+        Matrix lightViewProjectionMatrix = renderData.m_projectionMatrix;
+        Matrix modelViewMatrix = renderData.m_viewMatrix*renderData.m_modelMatrix;
+        viewportmat = renderData.m_viewportMatrix;
+        Vec3f localScaling(renderData.m_localScaling[0],renderData.m_localScaling[1],renderData.m_localScaling[2]);
+        
+        
+        DepthShader shader(model, lightModelViewMatrix, lightViewProjectionMatrix,renderData.m_modelMatrix, localScaling);
+        
+        setindex = true;
+        
+        for (int i=0; i<model->nfaces(); i++)
+        {
+            for (int j=0; j<3; j++) {
+                shader.vertex(i, j);
+            }
+            triangle(shader.varying_tri, shader, tempFrame, &shadowbuffer[0], segmentationMaskBufferPtr, renderData.m_viewportMatrix, renderData.m_objectIndex);
+            count++;
+        }
+        
+        for (int k = 0; k < 76800; ++k)
+        {
+            if (shadowbuffer[k] > -1e30f+0.00001)
+            {
+                //printf("[%d]: %f\n", k, shadowbuffer[k]);
+            }
+        }
+        
+    }
+    
+}
+
+void TinyRenderer::renderObjectShadow(TinyRenderObjectData& renderData)
+{
+    int width = renderData.m_rgbColorBuffer.get_width();
+    int height = renderData.m_rgbColorBuffer.get_height();
+    
+    Vec3f light_dir_local = Vec3f(renderData.m_lightDirWorld[0],renderData.m_lightDirWorld[1],renderData.m_lightDirWorld[2]);
+    Vec3f light_color = Vec3f(renderData.m_lightColor[0],renderData.m_lightColor[1],renderData.m_lightColor[2]);
+    Model* model = renderData.m_model;
+    if (0==model)
+        return;
+    
+    renderData.m_viewportMatrix = viewport(0,0,width, height);
+    
+    b3AlignedObjectArray<float>& zbuffer = renderData.m_depthBuffer;
+    b3AlignedObjectArray<float>& shadowbuffer = renderData.m_shadowBuffer;
+    int* segmentationMaskBufferPtr = (renderData.m_segmentationMaskBufferPtr && renderData.m_segmentationMaskBufferPtr->size())?&renderData.m_segmentationMaskBufferPtr->at(0):0;
+    
+    TGAImage tempFrame(width, height, TGAImage::RGB);
+    TGAImage& frame = renderData.m_rgbColorBuffer;
+    
+    {
+        Matrix lightViewMatrix = lookat(light_dir_local*depth, Vec3f(0.0,0.0,0.0), Vec3f(0.0,0.0,1.0));
+        Matrix lightModelViewMatrix = lightViewMatrix*renderData.m_modelMatrix;
+        Matrix lightViewProjectionMatrix = renderData.m_projectionMatrix;
+        Matrix modelViewMatrix = renderData.m_viewMatrix*renderData.m_modelMatrix;
+        viewportmat = renderData.m_viewportMatrix;
+        Vec3f localScaling(renderData.m_localScaling[0],renderData.m_localScaling[1],renderData.m_localScaling[2]);
+        
+        ShadowShader shadowShader(model, light_dir_local, light_color, modelViewMatrix, lightModelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, localScaling, model->getColorRGBA(), width, height, shadowbuffer);
+        
+        setindex = false;
+        
+        for (int i=0; i<model->nfaces(); i++)
+        {
+            for (int j=0; j<3; j++) {
+                shadowShader.vertex(i, j);
+            }
+            triangle(shadowShader.varying_tri, shadowShader, frame, &zbuffer[0], segmentationMaskBufferPtr, renderData.m_viewportMatrix, renderData.m_objectIndex);
+            printf("count: %d\n", count);
+            count++;
+        }
+    }
+    
+}
diff --git a/examples/TinyRenderer/TinyRenderer.h b/examples/TinyRenderer/TinyRenderer.h
index 745667782..39a4743c6 100644
--- a/examples/TinyRenderer/TinyRenderer.h
+++ b/examples/TinyRenderer/TinyRenderer.h
@@ -53,6 +53,8 @@ class TinyRenderer
 {
     public:
         static void renderObject(TinyRenderObjectData& renderData);
+        static void renderObjectDepth(TinyRenderObjectData& renderData);
+        static void renderObjectShadow(TinyRenderObjectData& renderData);
 };
 
 #endif // TINY_RENDERER_Hbla