diff --git a/examples/SharedMemory/PhysicsClientGRPC.cpp b/examples/SharedMemory/PhysicsClientGRPC.cpp
index fe32bd5d1..5b788ecbb 100644
--- a/examples/SharedMemory/PhysicsClientGRPC.cpp
+++ b/examples/SharedMemory/PhysicsClientGRPC.cpp
@@ -67,7 +67,11 @@ struct	GRPCNetworkedInternalData
 	{
 		if (m_isConnected)
 			return true;
-		std::string hostport = m_hostName + ':' + std::to_string(m_port);
+		std::string hostport = m_hostName;
+		if (m_port >= 0)
+		{
+			hostport += ':' + std::to_string(m_port);
+		}
 		m_grpcChannel  = grpc::CreateChannel(
 			hostport, grpc::InsecureChannelCredentials());
 
diff --git a/examples/SharedMemory/grpc/main.cpp b/examples/SharedMemory/grpc/main.cpp
index 5560abd55..da9bc2d30 100644
--- a/examples/SharedMemory/grpc/main.cpp
+++ b/examples/SharedMemory/grpc/main.cpp
@@ -255,7 +255,11 @@ int main(int argc, char** argv)
 	int port = 6667;
 	parseArgs.GetCmdLineArgument("port", port);
 	std::string hostName = "localhost";
-	std::string hostNamePort = hostName + ":" + std::to_string(port);
+	std::string hostNamePort = hostName;
+	if (port>=0)
+	{
+		hostNamePort += ":" + std::to_string(port);
+	}
 
 	gVerboseNetworkMessagesServer = parseArgs.CheckCmdLineFlag("verbose");
 
diff --git a/examples/ThirdPartyLibs/Gwen/Renderers/FontData.h b/examples/ThirdPartyLibs/Gwen/Renderers/FontData.h
index 4a2792109..90a1d9f55 100644
--- a/examples/ThirdPartyLibs/Gwen/Renderers/FontData.h
+++ b/examples/ThirdPartyLibs/Gwen/Renderers/FontData.h
@@ -259,7 +259,7 @@ unsigned char sGwenFontData[] =
 	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
 };
 
-static const char sGwenDebugFontSpacing[]=
+static const signed char sGwenDebugFontSpacing[]=
 {
 	0,0,0,0,0,0,0,0,0,12,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,3,4,6,6,9,8,3,4,4,4,6,3,7,3,3,6,6,6,6,6,6,6,6,6,6,3,3,6,5,6,6,11,7,7,8,8,7,6,8,8,3,5,7,6,9,8,8,7,8,7,7,5,8,7,9,7,7,7,3,3,3,6,6,3,5,6,5,6,5,4,6,6,2,2,5,2,8,6,6,6,6,4,5,4,5,6,8,6,5,5,3,3,3,7,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,3,6,6,5,6,3,6,3,9,4,6,7,4,9,3,4,6,3,3,3,5,6,3,3,3,4,6,9,9,9,6,7,7,7,7,7,7,10,8,7,7,7,7,3,3,3,3,8,8,8,8,8,8,8,6,8,8,8,8,8,7,7,5,5,5,5,5,5,5,8,5,5,5,5,5,2,2,2,2,6,5,6,6,6,6,6,6,6,5,5,5,5,5,6,5,116,112,61,0,0,0,0,-96,-48,96,80,-64,0,64,-96,16,0,0,0,98,99,0,16,0,-96,-48,96,80,-64,0,-16,-128,16,98,99,0,-80,32,16,-16,16,112,-64,-64,-32,-16,-48,16,-48,0,64,-128,-64,32,-48,-64,-48,-16,96,32,64,96,96,32,32,-96,-64,-96,80,64,-80,16,-48,16,-80,-16,48,112,80,-80,-16,64,80,-112,-48,16,80,48,96,16,16,16,-112,-16,-16,0,96,48,48,-112,112,-80,-32,-48,-96,-112,16,80,80,48,-64,-80,-112,96,80,64,96,48,80,73,65,32,84,82,84,0,92,103,32,101,120,92,114,102,105,108,117,32,92,105,117,120,108,0,115,114,32,114,114,116,101,110,0,92,103,32,101,120,92,114,102,105,108,117,32,92,105,117,108,0,92,103,32,101,120,92,114,102,105,108,117,32,92,105,117,120,101,110,105,114,101,0,100,84,60,115,116,95,116,97,60,115,119,58,116,115,97,42,114,32,58,115,108,32,110,111,111,58,101,44,115,116,97,99,114,97,71,58,110,108,66,32,48,58,110,105,97,58,101,111,61,83,100,32,32,114,101,110,105,114,101,44,0,112,116,101,111,105,109,105,0,115,110,116,101,111,117,100,97,0,115,111,64,80,-112,34,32,114,101,0,100,105,99,115,101,67,114,58,115,44,115,116,97,99,114,97,71,58,110,108,66,32,62,67,116,101,111,62,112,116,42,83,100,32,32,114,101,117,102,110,44,0,115,116,116,110,100,102,110,108,0,100,105,99,115,101,67,114,58,115,44,115,116,97,99,114,97,71,58,110,108,66,32,62,67,116,101,111,62,112,116,43,0,115,116,116,110,105,101,116,101,60,108,0,112,116,97,105,97,32,115,32,103,0,100,105,99,115,101,67,114,58,115,44,115,116,97,99,114,97,71,58,110,108,66,32,62,67,116,101,111,62,67,97,108,32,114,114,110,112,98,0,100,84,60,115,116,95,116,97,60,115,119,58,116,115,97,42,114,32,58,115,108,32,110,111,111,58,101,44,115,116,97,99,114,97,71,58,110,108,66,32,48,58,110,105,97,58,101,0,112,116,101,111,111,101,109,97,0,100,84,60,115,116,95,116,97,60,115,119,58,116,115,97,42,114,32,58,115,108,32,110,111,111,58,101,44,115,116,97,99,114,97,71,58,110,108,66,32,48,58,110,105,97,58,110,0,112,116,101,111,111,110,109,97,0,118,100,101,111,16,-26,100,105,99,115,101,67,114,58,115,44,115,116,97,99,114,97,71,58,110,108,66,32,62,67,116,101,111,62,112,116,45,0,115,116,116,110,100,101,116,101,97,111,0,0,0,0,97,111,48,48,-96,-112,-48,16,-64,0,-16,-128,16,0,-103,97,111,58,110,105,33,-128,32,-64,-16,16,112,-64,-64,-32,-16,-48,16,-48,0,64,-128,-64,32,-48,-64,-48,-16,96,32,112,96,96,32,-96,-96,-64,-96,80,64,-80,16,-48,16,-80,-16,48,112,80,-80,-16,64,80,-112,-48,16,80,48,96,16,16,16,-112,32,-16,0,96,48,48,-112,112,-80,-32,-48,-96,-112,16,80,80,48,-64,-124,-96,-112,64,-110,-128,0,80,112,0,100,84,60,115,116,95,112,97,60,115,116,98,99,114,60,97,44,117,115,58,114,97,60,97,62,97,115,58,111,111,99,95,62,97,71,58,101,58,108,42,114,32,58,115,108,32,58,115,115,110,99,95,116,116,100,104,116,116,99,95,99,115,100,108,97,60,97,62,62,97,115,58,111,111,116,116,100,97,99,115,100,97,95,105,119,114,115,99,116,99,95,105,119,114,44,115,116,97,99,114,104,116,32,115,99,115,101,69,116,97,114,32,62,58,115,116,116,58,114,114,0,100,84,60,115,116,95,112,97,60,115,116,98,99,114,60,97,44,117,115,58,114,97,60,97,62,97,115,58,111,111,99,95,62,97,71,58,101,58,108,42,114,32,58,115,108,32,58,115,115,110,99,95,116,116,100,104,116,116,99,95,99,115,100,108,97,60,97,62,62,97,115,58,111,111,116,116,100,97,99,115,100,97,95,105,119,114,115,99,116,99,95,105,119,114,44,115,116,97,99,114,104,116,32,115,99,115,101,69,116,97,114,32,62,58,115,116,116,58,114,114,0,112,116,101,111,111,101,101,99,101,100,84,60,115,116,95,112,97,60,115,116,98,99,114,60,97,44,117,115,58,114,97,60,97,62,97,115,58,111,111,99,95,62,97,71,58,101,58,108,42,114,32,58,115,108,32,58,115,115,110,99,95,116,116,100,104,116,116,99,95,99,115,100,108,97,60,97,62,62,97,115,58,111,111,116,116,100,97,99,115,100,97,95,105,119,114,115,99,116,99,95,105,119,114,44,115,116,97,99,114,104,116,32,115,99,115,101,69,116,97,114,32,62,58,115,116,116,58,99,92,103,32,101,120,92,114,102,105,108,117,32,92,105,117,97,114,109,100,105,99,115,101,67,114,58,115,44,115,116,97,99,114,97,71,58,110,108,66,32,62,73,97,60,58,101,100,101,111,115,110,111,97,0,116,45,97,99,97,114,97,34,41,100,105,99,115,101,67,114,58,115,44,115,116,97,99,114,97,71,58,110,108,66,32,62,67,116,101,111,62,112,116,42,100,105,99,115,101,67,114,58,115,44,115,116,97,99,114,97,71,58,110,108,66,32,62,67,116,101,111,62,112,116,43,0,100,105,99,115,101,67,114,58,115,44,115,116,97,99,114,97,71,58,110,108,66,32,62,67,116,101,111,62,67,97,98,99,98,99,98,99,-113,67,32,83,116,0,100,105,99,115,101,72,58,115,111,44,115,116,97,99,114,97,71,58,111,66,72,32,62,67,116,101,111,62,112,116,42,100,105,99,115,101,72,58,115,111,44,115,116,97,99,114,97,71,58,111,66,72,32,62,67,116,101,111,62,112,116,43,0,100,105,99,115,101,72,58,115,111,44,115,116,97,99,114,97,71,58,111,66,72,32,62,67,116,101,111,62,67,97,98,99,-92,-96,64,-128,112,116,115,32,114,114,116,101,110,0,100,84,60,115,116,95,112,97,60,115,119,58,116,115,97,42,97,115,58,116,97,71,58,105,65,97,110,99,115,100,108,97,60,115,119,58,109,110,116,32,62,114,32,58,115,108,32,110,111,111,58,101,44,115,116,97,99,114,114,32,58,105,108,32,110,111,111,58,101,99,116,97,115,58,116,97,71,58,105,65,97,110,99,115,100,108,97,60,115,119,58,109,110,116,32,62,62,32,99,116,101,111,111,97,32,0,100,105,99,115,101,65,58,105,105,42,97,115,58,111,111,108,32,110,110,58,109,111,62,58,110,105,97,60,58,114,114,0,100,105,99,115,101,65,58,105,105,42,97,115,58,111,111,108,32,110,110,58,109,111,62,58,110,105,97,60,58,114,114,0,100,84,60,115,116,95,112,97,60,115,119,58,116,115,97,42,97,115,58,116,97,71,58,105,65,97,110,99,115,100,108,97,60,115,119,58,109,110,116,32,62,114,32,58,115,108,32,110,111,111,58,101,44,115,116,97,99,114,114,32,58,105,108,32,110,111,111,58,101,99,116,97,115,58,116,97,71,58,105,65,97,110,99,115,100,108,97,60,115,119,58,109,110,116,32,62,62,32,99,116,101,111,111,97,32,0,100,84,60,115,116,95,112,97,60,115,119,58,116,115,97,42,97,115,58,116,97,71,58,105,65,97,110,99,115,100,108,97,60,115,119,58,109,110,116,32,62,114,32,58,115,108,32,110,111,111,58,101,44,115,116,97,99,114,114,32,58,105,108,32,110,111,111,58,101,99,116,97,115,58,116,97,71,58,105,65,97,110,99,115,100,108,97,60,115,119,58,109,110,116,32,62,62,32,99,116,101,111,95,0,100,105,99,115,101,65,58,105,105,42,97,115,58,111,111,108,32,110,110,58,109,111,62,58,110,105,97,60,58,109,0,100,84,60,115,116,95,112,97,60,115,119,58,116,115,97,42,97,115,58,116,97,71,58,105,65,97,110,99,115,100,108,97,60,115,119,58,109,110,116,32
 };
diff --git a/examples/pybullet/examples/grpcClient.py b/examples/pybullet/examples/grpcClient.py
new file mode 100644
index 000000000..cc44d06f1
--- /dev/null
+++ b/examples/pybullet/examples/grpcClient.py
@@ -0,0 +1,19 @@
+
+import pybullet as p
+
+usePort = True
+
+if (usePort):
+	id = p.connect(p.GRPC,"localhost:12345")
+else:
+	id = p.connect(p.GRPC,"localhost") 
+print("id=",id)
+
+if (id<0):
+	print("Cannot connect to GRPC server")
+	exit(0)
+	
+print ("Connected to GRPC")
+r2d2 = p.loadURDF("r2d2.urdf")
+print("numJoints = ", p.getNumJoints(r2d2))
+
diff --git a/examples/pybullet/examples/grpcServer.py b/examples/pybullet/examples/grpcServer.py
new file mode 100644
index 000000000..a1960714f
--- /dev/null
+++ b/examples/pybullet/examples/grpcServer.py
@@ -0,0 +1,29 @@
+import pybullet as p
+import time
+
+useDirect = False
+usePort = True
+
+p.connect(p.GUI)
+id = p.loadPlugin("grpcPlugin")
+#dynamically loading the plugin
+#id = p.loadPlugin("E:/develop/bullet3/bin/pybullet_grpcPlugin_vs2010_x64_debug.dll", postFix="_grpcPlugin")
+
+#start the GRPC server at hostname, port
+if (id<0):
+	print("Cannot load grpcPlugin")
+	exit(0)
+	
+if usePort:
+	p.executePluginCommand(id, "localhost:12345")
+else:
+	p.executePluginCommand(id, "localhost")
+
+while p.isConnected():
+	if (useDirect):
+		#Only in DIRECT mode, since there is no 'ping' you need to manually call to handle RCPs:
+		numRPC = 10
+		p.executePluginCommand(id, intArgs=[numRPC])
+	else:
+		dt = 1./240.
+		time.sleep(dt)
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 5a500c4ee..d3ca5fb96 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -330,6 +330,7 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
 		int key = SHARED_MEMORY_KEY;
 		int udpPort = 1234;
 		int tcpPort = 6667;
+		int grpcPort = -1;
 		int argc = 0;
 		char** argv=0;
 
@@ -352,6 +353,7 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
 				{
 					udpPort = port;
 					tcpPort = port;
+					grpcPort = port;
 				}
 			}
 		}
@@ -437,7 +439,7 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
 			case eCONNECT_GRPC:
 			{
 #ifdef BT_ENABLE_GRPC
-				sm = b3ConnectPhysicsGRPC(hostName, tcpPort);
+				sm = b3ConnectPhysicsGRPC(hostName, grpcPort);
 #else
 				PyErr_SetString(SpamError, "GRPC is not enabled in this pybullet build");
 #endif