diff --git a/examples/ExampleBrowser/GwenGUISupport/gwenUserInterface.cpp b/examples/ExampleBrowser/GwenGUISupport/gwenUserInterface.cpp
index 678bae4cc..4f8ef5dd0 100644
--- a/examples/ExampleBrowser/GwenGUISupport/gwenUserInterface.cpp
+++ b/examples/ExampleBrowser/GwenGUISupport/gwenUserInterface.cpp
@@ -589,7 +589,6 @@ bool	GwenUserInterface::keyboardCallback(int bulletKey, int state)
 			
 		}
 		};
-		bool bDown = (state == 1);
 
 		if (gwenKey>=0)
 		{
diff --git a/examples/SharedMemory/PhysicsClient.cpp b/examples/SharedMemory/PhysicsClient.cpp
index b9be5dfdf..e33d1dbc6 100644
--- a/examples/SharedMemory/PhysicsClient.cpp
+++ b/examples/SharedMemory/PhysicsClient.cpp
@@ -29,7 +29,6 @@ struct PhysicsClientSharedMemoryInternalData
 	btAlignedObjectArray<btVector3> m_debugLinesTo;
 	btAlignedObjectArray<btVector3> m_debugLinesColor;
 	
-	
 	int m_counter;
 	bool m_serverLoadUrdfOK;
 	bool m_isConnected;
@@ -218,11 +217,10 @@ bool	PhysicsClientSharedMemory::processServerStatus(SharedMemoryStatus& serverSt
 								{
 									{
 										b3JointInfo info;
-                                        info.m_flags = 0;
-										info.m_qIndex = qOffset;
-										info.m_uIndex = uOffset;
-										info.m_linkIndex = link;
-
+                                        					info.m_flags = 0;
+										info.m_qIndex = (0 < mb->m_links[link].m_posVarCount) ? qOffset : -1;
+										info.m_uIndex = (0 < mb->m_links[link].m_dofCount) ? uOffset : -1;
+										
 										if (mb->m_links[link].m_linkName)
 										{
 											if (m_data->m_verboseOutput)
@@ -267,8 +265,8 @@ bool	PhysicsClientSharedMemory::processServerStatus(SharedMemoryStatus& serverSt
 									{
 										b3JointInfo info;
                                         info.m_flags = 0;
-										info.m_qIndex = qOffset;
-										info.m_uIndex = uOffset;
+										info.m_qIndex = (0 < mb->m_links[link].m_posVarCount) ? qOffset : -1;
+										info.m_uIndex = (0 < mb->m_links[link].m_dofCount) ? uOffset : -1;
 										
 										if (mb->m_links[link].m_linkName)
 										{
diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index 8d627322a..47a977bd9 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -80,6 +80,16 @@ int	b3InitStepSimulationCommand(struct SharedMemoryCommand* command)
 
 }
 
+int     b3InitResetSimulationCommand(struct SharedMemoryCommand* command)
+{
+        b3Assert(command);
+        command->m_type = CMD_RESET_SIMULATION;
+        command->m_updateFlags = 0;
+
+        return 0;
+
+}
+
 
 int b3JointControlCommandInit(struct SharedMemoryCommand* command, int controlMode)
 {
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index d726d2740..cc3c6d420 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -33,6 +33,8 @@ int	b3PhysicsParamSetTimeStep(struct SharedMemoryCommand* command, double timeSt
 
 int	b3InitStepSimulationCommand(struct SharedMemoryCommand* command);
 
+int	b3InitResetSimulationCommand(struct SharedMemoryCommand* command);
+
 int	b3LoadUrdfCommandInit(struct SharedMemoryCommand* command, const char* urdfFileName);
 ///all those commands are optional, except for the *Init
 int	b3LoadUrdfCommandSetStartPosition(struct SharedMemoryCommand* command, double startPosX,double startPosY,double startPosZ);
diff --git a/examples/SharedMemory/PhysicsServer.cpp b/examples/SharedMemory/PhysicsServer.cpp
index 2ebca4f81..4b6a0ad08 100644
--- a/examples/SharedMemory/PhysicsServer.cpp
+++ b/examples/SharedMemory/PhysicsServer.cpp
@@ -975,6 +975,10 @@ void PhysicsServerSharedMemory::processClientCommands()
 					
 				case CMD_SEND_PHYSICS_SIMULATION_PARAMETERS:
 				{
+					if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_DELTA_TIME)
+					{
+						m_data->m_physicsDeltaTime = clientCmd.m_physSimParamArgs.m_deltaTime;
+					}
 					if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_GRAVITY)
 					{
 						btVector3 grav(clientCmd.m_physSimParamArgs.m_gravityAcceleration[0],
@@ -1010,7 +1014,6 @@ void PhysicsServerSharedMemory::processClientCommands()
 				}
 					
 
-					
                 case CMD_RESET_SIMULATION:
                 {
 					//clean up all data
diff --git a/examples/SharedMemory/SharedMemoryBlock.h b/examples/SharedMemory/SharedMemoryBlock.h
index f922a4f26..ba7faccb5 100644
--- a/examples/SharedMemory/SharedMemoryBlock.h
+++ b/examples/SharedMemory/SharedMemoryBlock.h
@@ -30,7 +30,13 @@ struct SharedMemoryBlock
 };
 
 
-static void     InitSharedMemoryBlock(struct SharedMemoryBlock* sharedMemoryBlock)
+//http://stackoverflow.com/questions/24736304/unable-to-use-inline-in-declaration-get-error-c2054
+#ifdef _WIN32
+__inline
+#else
+inline
+#endif
+void     InitSharedMemoryBlock(struct SharedMemoryBlock* sharedMemoryBlock)
 {
     sharedMemoryBlock->m_numClientCommands = 0;
     sharedMemoryBlock->m_numServerCommands = 0;
diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h
index 52af0ca8a..6f5c6fd3e 100644
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -287,7 +287,6 @@ struct b3JointInfo
         int m_jointType;
         int m_qIndex;
         int m_uIndex;
-		int m_linkIndex;
     ///
         int m_flags;
 };
diff --git a/examples/SimpleOpenGL3/main.cpp b/examples/SimpleOpenGL3/main.cpp
index 1dc80f31b..68dc00366 100644
--- a/examples/SimpleOpenGL3/main.cpp
+++ b/examples/SimpleOpenGL3/main.cpp
@@ -13,7 +13,7 @@ int main(int argc, char* argv[])
     b3CommandLineArgs myArgs(argc,argv);
 
 
-	SimpleOpenGL3App* app = new SimpleOpenGL3App("SimpleOpenGL3App",1024,768);
+	SimpleOpenGL3App* app = new SimpleOpenGL3App("SimpleOpenGL3App",1024,768,true);
 	app->m_instancingRenderer->getActiveCamera()->setCameraDistance(13);
 	app->m_instancingRenderer->getActiveCamera()->setCameraPitch(0);
 	app->m_instancingRenderer->getActiveCamera()->setCameraTargetPosition(0,0,0);
diff --git a/test/SharedMemory/test.c b/test/SharedMemory/test.c
index ad4e7cfe4..55fd1dc70 100644
--- a/test/SharedMemory/test.c
+++ b/test/SharedMemory/test.c
@@ -148,8 +148,15 @@ int main(int argc, char* argv[])
                      status.m_sendActualStateArgs.m_jointReactionForces[6*sensorJointIndexRight+1],
                      status.m_sendActualStateArgs.m_jointReactionForces[6*sensorJointIndexRight+2]);
         }
+
+	 ret = b3InitResetSimulationCommand(&command);
+            ret = b3SubmitClientCommand(sm, &command);
+            timeout = MAX_TIMEOUT;
+            while ((timeout-- > 0) && b3ProcessServerStatus(sm, &status)==0)    {}
         
         
 	}
+
+
 	b3DisconnectSharedMemory(sm);
 }