diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 1a1b13275..2469a09e9 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -1053,13 +1053,13 @@ struct GenericRobotStateLogger : public InternalStateLogger
     std::string m_fileName;
     FILE* m_logFileHandle;
     std::string m_structTypes;
-    btMultiBodyDynamicsWorld* m_dynamicsWorld;
+    const btMultiBodyDynamicsWorld* m_dynamicsWorld;
     btAlignedObjectArray<int> m_bodyIdList;
     bool m_filterObjectUniqueId;
     int m_maxLogDof;
 	int m_logFlags;
 
-    GenericRobotStateLogger(int loggingUniqueId, const std::string& fileName, btMultiBodyDynamicsWorld* dynamicsWorld, int maxLogDof, int logFlags)
+    GenericRobotStateLogger(int loggingUniqueId, const std::string& fileName, const btMultiBodyDynamicsWorld* dynamicsWorld, int maxLogDof, int logFlags)
     :m_loggingTimeStamp(0),
     m_logFileHandle(0),
     m_dynamicsWorld(dynamicsWorld),
@@ -1137,7 +1137,7 @@ struct GenericRobotStateLogger : public InternalStateLogger
         {
             for (int i=0;i<m_dynamicsWorld->getNumMultibodies();i++)
             {
-                btMultiBody* mb = m_dynamicsWorld->getMultiBody(i);
+                const btMultiBody* mb = m_dynamicsWorld->getMultiBody(i);
                 int objectUniqueId = mb->getUserIndex2();
                 if (m_filterObjectUniqueId && m_bodyIdList.findLinearSearch2(objectUniqueId) < 0)
                 {
diff --git a/src/BulletDynamics/Dynamics/btDynamicsWorld.h b/src/BulletDynamics/Dynamics/btDynamicsWorld.h
index a9ed1978f..42d8fc0de 100644
--- a/src/BulletDynamics/Dynamics/btDynamicsWorld.h
+++ b/src/BulletDynamics/Dynamics/btDynamicsWorld.h
@@ -135,6 +135,11 @@ public:
 			return m_solverInfo;
 		}
 
+		const btContactSolverInfo& getSolverInfo() const
+		{
+			return m_solverInfo;
+		}
+
 
 		///obsolete, use addAction instead.
 		virtual void	addVehicle(btActionInterface* vehicle) {(void)vehicle;}
diff --git a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h
index e5113ae6c..c0c132bbb 100644
--- a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h
+++ b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h
@@ -72,6 +72,11 @@ public:
 		return m_multiBodies[mbIndex];
 	}
 
+	const btMultiBody*	getMultiBody(int mbIndex) const
+	{
+		return m_multiBodies[mbIndex];
+	}
+
 	virtual void	addMultiBodyConstraint( btMultiBodyConstraint* constraint);
 
 	virtual int     getNumMultiBodyConstraints() const