diff --git a/examples/SharedMemory/PhysicsClient.h b/examples/SharedMemory/PhysicsClient.h
index 6dd537fd6..2b9357155 100644
--- a/examples/SharedMemory/PhysicsClient.h
+++ b/examples/SharedMemory/PhysicsClient.h
@@ -75,10 +75,10 @@ public:
 	virtual void setTimeOut(double timeOutInSeconds) = 0;
 	virtual double getTimeOut() const  = 0;
 
-	virtual bool getCachedUserData(int bodyUniqueId, int linkIndex, int userDataId, struct b3UserDataValue &valueOut) const = 0;
-	virtual int getCachedUserDataId(int bodyUniqueId, int linkIndex, const char *key) const = 0;
-	virtual int getNumUserData(int bodyUniqueId, int linkIndex) const = 0;
-	virtual void getUserDataInfo(int bodyUniqueId, int linkIndex, int userDataIndex, const char **keyOut, int *userDataIdOut) const = 0;
+	virtual bool getCachedUserData(int userDataId, struct b3UserDataValue &valueOut) const = 0;
+	virtual int getCachedUserDataId(int bodyUniqueId, int linkIndex, int visualShapeIndex, const char *key) const = 0;
+	virtual int getNumUserData(int bodyUniqueId) const = 0;
+	virtual void getUserDataInfo(int bodyUniqueId, int userDataIndex, const char **keyOut, int *userDataIdOut, int *linkIndexOut, int *visualShapeIndexOut) const = 0;
 
 	virtual void pushProfileTiming(const char* timingName)=0;
 	virtual void popProfileTiming()=0;
diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index e5abaa26a..d88e15d42 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -2848,7 +2848,7 @@ B3_SHARED_API  b3SharedMemoryCommandHandle b3InitSyncUserDataCommand(b3PhysicsCl
 	return (b3SharedMemoryCommandHandle) command;
 }
 
-B3_SHARED_API  b3SharedMemoryCommandHandle b3InitAddUserDataCommand(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex, const char* key, UserDataValueType valueType, int valueLength, const void *valueData) {
+B3_SHARED_API  b3SharedMemoryCommandHandle b3InitAddUserDataCommand(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex, int visualShapeIndex, const char* key, UserDataValueType valueType, int valueLength, const void *valueData) {
 	PhysicsClient* cl = (PhysicsClient* ) physClient;
 	b3Assert(strlen(key) < MAX_USER_DATA_KEY_LENGTH);
 	b3Assert(cl);
@@ -2860,6 +2860,7 @@ B3_SHARED_API  b3SharedMemoryCommandHandle b3InitAddUserDataCommand(b3PhysicsCli
 	command->m_type = CMD_ADD_USER_DATA;
 	command->m_addUserDataRequestArgs.m_bodyUniqueId = bodyUniqueId;
 	command->m_addUserDataRequestArgs.m_linkIndex = linkIndex;
+	command->m_addUserDataRequestArgs.m_visualShapeIndex = visualShapeIndex;
 	command->m_addUserDataRequestArgs.m_valueType = valueType;
 	command->m_addUserDataRequestArgs.m_valueLength = valueLength;
 	strcpy(command->m_addUserDataRequestArgs.m_key, key);
@@ -2868,7 +2869,7 @@ B3_SHARED_API  b3SharedMemoryCommandHandle b3InitAddUserDataCommand(b3PhysicsCli
 	return (b3SharedMemoryCommandHandle) command;
 }
 
-B3_SHARED_API  b3SharedMemoryCommandHandle b3InitRemoveUserDataCommand(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex, int userDataId) {
+B3_SHARED_API  b3SharedMemoryCommandHandle b3InitRemoveUserDataCommand(b3PhysicsClientHandle physClient, int userDataId) {
 	PhysicsClient* cl = (PhysicsClient* ) physClient;
 	b3Assert(cl);
 	b3Assert(cl->canSubmitCommand());
@@ -2876,29 +2877,27 @@ B3_SHARED_API  b3SharedMemoryCommandHandle b3InitRemoveUserDataCommand(b3Physics
 	b3Assert(command);
 
 	command->m_type = CMD_REMOVE_USER_DATA;
-	command->m_removeUserDataRequestArgs.m_bodyUniqueId = bodyUniqueId;
-	command->m_removeUserDataRequestArgs.m_linkIndex = linkIndex;
 	command->m_removeUserDataRequestArgs.m_userDataId = userDataId;
 
 	return (b3SharedMemoryCommandHandle) command;
 }
 
-B3_SHARED_API int b3GetUserData(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex, int userDataId, struct b3UserDataValue *valueOut)
+B3_SHARED_API int b3GetUserData(b3PhysicsClientHandle physClient, int userDataId, struct b3UserDataValue *valueOut)
 {
 	PhysicsClient* cl = (PhysicsClient*)physClient;
 	if (cl)
 	{
-		return cl->getCachedUserData(bodyUniqueId, linkIndex, userDataId, *valueOut);
+		return cl->getCachedUserData(userDataId, *valueOut);
 	}
 	return false;
 }
 
-B3_SHARED_API int b3GetUserDataId(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex, const char *key)
+B3_SHARED_API int b3GetUserDataId(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex, int visualShapeIndex, const char *key)
 {
 	PhysicsClient* cl = (PhysicsClient*)physClient;
 	if (cl)
 	{
-		return cl->getCachedUserDataId(bodyUniqueId, linkIndex, key);
+		return cl->getCachedUserDataId(bodyUniqueId, linkIndex, visualShapeIndex, key);
 	}
 	return -1;
 }
@@ -2909,27 +2908,27 @@ B3_SHARED_API int b3GetUserDataIdFromStatus(b3SharedMemoryStatusHandle statusHan
 	if (status)
 	{
 		btAssert(status->m_type == CMD_ADD_USER_DATA_COMPLETED);
-		return status->m_userDataResponseArgs.m_userDataGlobalId.m_userDataId;
+		return status->m_userDataResponseArgs.m_userDataId;
 	}
 	return -1;
 }
 
-B3_SHARED_API int b3GetNumUserData(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex)
+B3_SHARED_API int b3GetNumUserData(b3PhysicsClientHandle physClient, int bodyUniqueId)
 {
 	PhysicsClient* cl = (PhysicsClient*)physClient;
 	if (cl)
 	{
-		return cl->getNumUserData(bodyUniqueId, linkIndex);
+		return cl->getNumUserData(bodyUniqueId);
 	}
 	return 0;
 }
 
-B3_SHARED_API void b3GetUserDataInfo(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex, int userDataIndex, const char **keyOut, int *userDataIdOut)
+B3_SHARED_API void b3GetUserDataInfo(b3PhysicsClientHandle physClient, int bodyUniqueId, int userDataIndex, const char **keyOut, int *userDataIdOut, int *linkIndexOut, int *visualShapeIndexOut)
 {
 	PhysicsClient* cl = (PhysicsClient*)physClient;
 	if (cl)
 	{
-		cl->getUserDataInfo(bodyUniqueId, linkIndex, userDataIndex, keyOut, userDataIdOut);
+		cl->getUserDataInfo(bodyUniqueId, userDataIndex, keyOut, userDataIdOut, linkIndexOut, visualShapeIndexOut);
 	}
 }
 
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index e57aaa510..2870f7f1e 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -115,14 +115,14 @@ B3_SHARED_API	int	b3GetJointInfo(b3PhysicsClientHandle physClient, int bodyUniqu
 
 ///user data handling
 B3_SHARED_API b3SharedMemoryCommandHandle b3InitSyncUserDataCommand(b3PhysicsClientHandle physClient);
-B3_SHARED_API b3SharedMemoryCommandHandle b3InitAddUserDataCommand(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex, const char* key, enum UserDataValueType valueType, int valueLength, const void *valueData);
-B3_SHARED_API b3SharedMemoryCommandHandle b3InitRemoveUserDataCommand(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex, int userDataId);
+B3_SHARED_API b3SharedMemoryCommandHandle b3InitAddUserDataCommand(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex, int visualShapeIndex, const char* key, enum UserDataValueType valueType, int valueLength, const void *valueData);
+B3_SHARED_API b3SharedMemoryCommandHandle b3InitRemoveUserDataCommand(b3PhysicsClientHandle physClient, int userDataId);
 
-B3_SHARED_API int b3GetUserData(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex, int userDataId, struct b3UserDataValue *valueOut);
-B3_SHARED_API int b3GetUserDataId(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex, const char *key);
+B3_SHARED_API int b3GetUserData(b3PhysicsClientHandle physClient, int userDataId, struct b3UserDataValue *valueOut);
+B3_SHARED_API int b3GetUserDataId(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex, int visualShapeIndex, const char *key);
 B3_SHARED_API int b3GetUserDataIdFromStatus(b3SharedMemoryStatusHandle statusHandle);
-B3_SHARED_API int b3GetNumUserData(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex);
-B3_SHARED_API void b3GetUserDataInfo(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex, int userDataIndex, const char **keyOut, int *userDataIdOut);
+B3_SHARED_API int b3GetNumUserData(b3PhysicsClientHandle physClient, int bodyUniqueId);
+B3_SHARED_API void b3GetUserDataInfo(b3PhysicsClientHandle physClient, int bodyUniqueId, int userDataIndex, const char **keyOut, int *userDataIdOut, int *linkIndexOut, int *visualShapeIndexOut);
 
 B3_SHARED_API	b3SharedMemoryCommandHandle b3GetDynamicsInfoCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex);
 ///given a body unique id and link index, return the dynamics information. See b3DynamicsInfo in SharedMemoryPublic.h
diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.cpp b/examples/SharedMemory/PhysicsClientSharedMemory.cpp
index 1f3d24c35..f787fec05 100644
--- a/examples/SharedMemory/PhysicsClientSharedMemory.cpp
+++ b/examples/SharedMemory/PhysicsClientSharedMemory.cpp
@@ -15,26 +15,12 @@
 #include "LinearMath/btQuickprof.h"
 
 
-struct UserDataCache 
-{
-	btHashMap<btHashInt, SharedMemoryUserData> m_userDataMap;
-	btHashMap<btHashString, int> m_keyToUserDataIdMap;
-
-	UserDataCache()
-	{
-	}
-	~UserDataCache() 
-	{
-	}
-};
-
 struct BodyJointInfoCache
 {
 	std::string m_baseName;
 	b3AlignedObjectArray<b3JointInfo> m_jointInfo;
 	std::string m_bodyName;
-	// Joint index -> user data.
-	btHashMap<btHashInt, UserDataCache> m_jointToUserDataMap;
+	btAlignedObjectArray<int> m_userDataIds;
 
 	~BodyJointInfoCache() 
 	{
@@ -78,7 +64,10 @@ struct PhysicsClientSharedMemoryInternalData {
     btAlignedObjectArray<int> m_bodyIdsRequestInfo;
 	btAlignedObjectArray<int> m_constraintIdsRequestInfo;
 
-	btAlignedObjectArray<b3UserDataGlobalIdentifier> m_userDataIdsRequestInfo;
+	btAlignedObjectArray<int> m_userDataIdsRequestInfo;
+	btHashMap<btHashInt, SharedMemoryUserData> m_userDataMap;
+	btHashMap<SharedMemoryUserDataHashKey, int> m_userDataHandleLookup;
+
 
     SharedMemoryStatus m_tempBackupServerStatus;
     
@@ -243,6 +232,12 @@ void PhysicsClientSharedMemory::removeCachedBody(int bodyUniqueId)
 	BodyJointInfoCache** bodyJointsPtr = m_data->m_bodyJointMap[bodyUniqueId];
 	if (bodyJointsPtr && *bodyJointsPtr)
 	{
+		for(int i=0; i<(*bodyJointsPtr)->m_userDataIds.size(); i++) {
+			const int userDataId = (*bodyJointsPtr)->m_userDataIds[i];
+			SharedMemoryUserData *userData = m_data->m_userDataMap[userDataId];
+			m_data->m_userDataHandleLookup.remove(SharedMemoryUserDataHashKey(userData));
+			m_data->m_userDataMap.remove(userDataId);
+		}
 		delete (*bodyJointsPtr);
 		m_data->m_bodyJointMap.remove(bodyUniqueId);
 	}
@@ -264,6 +259,8 @@ void PhysicsClientSharedMemory::resetData()
 	}
 	m_data->m_bodyJointMap.clear();
 	m_data->m_userConstraintInfoMap.clear();
+	m_data->m_userDataHandleLookup.clear();
+	m_data->m_userDataMap.clear();
                 
 }
 void PhysicsClientSharedMemory::setSharedMemoryKey(int key) 
@@ -1409,25 +1406,26 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
 				BodyJointInfoCache** bodyJointsPtr = m_data->m_bodyJointMap.getAtIndex(i);
 				if (bodyJointsPtr && *bodyJointsPtr)
 				{
-					(*bodyJointsPtr)->m_jointToUserDataMap.clear();
+					(*bodyJointsPtr)->m_userDataIds.clear();
 				}
+				m_data->m_userDataMap.clear();
+				m_data->m_userDataHandleLookup.clear();
 			}
 			const int numIdentifiers = serverCmd.m_syncUserDataArgs.m_numUserDataIdentifiers;
 			if (numIdentifiers > 0) {
 				m_data->m_tempBackupServerStatus = m_data->m_lastServerStatus;
 
-				const b3UserDataGlobalIdentifier *identifiers = (b3UserDataGlobalIdentifier *)m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor;
-				for (int i=0; i<numIdentifiers; i++) {
+				const int *identifiers = (int *)m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor;
+				m_data->m_userDataIdsRequestInfo.reserve(numIdentifiers - 1);
+				// Store the identifiers that still need to be requested.
+				for (int i=0; i<numIdentifiers - 1; i++) {
 					m_data->m_userDataIdsRequestInfo.push_back(identifiers[i]);
 				}
 
-				// Request individual user data entries.
-				const b3UserDataGlobalIdentifier userDataGlobalId = m_data->m_userDataIdsRequestInfo[m_data->m_userDataIdsRequestInfo.size()-1];
-				m_data->m_userDataIdsRequestInfo.pop_back();
-
+				// Request individual user data entries, start with last identifier.
 				SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];
 				command.m_type = CMD_REQUEST_USER_DATA;
-				command.m_userDataRequestArgs = userDataGlobalId;
+				command.m_userDataRequestArgs.m_userDataId = identifiers[numIdentifiers - 1];
 				submitClientCommand(command);
 				return 0;
 			}
@@ -1435,31 +1433,23 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
 
 		if (serverCmd.m_type == CMD_ADD_USER_DATA_COMPLETED || serverCmd.m_type == CMD_REQUEST_USER_DATA_COMPLETED) {
 			B3_PROFILE("CMD_ADD_USER_DATA_COMPLETED");
-			const b3UserDataGlobalIdentifier userDataGlobalId = serverCmd.m_userDataResponseArgs.m_userDataGlobalId;
-			BodyJointInfoCache** bodyJointsPtr = m_data->m_bodyJointMap[userDataGlobalId.m_bodyUniqueId];
+			const UserDataResponseArgs response = serverCmd.m_userDataResponseArgs;
+			BodyJointInfoCache** bodyJointsPtr = m_data->m_bodyJointMap[response.m_bodyUniqueId];
 			if (bodyJointsPtr && *bodyJointsPtr) {
-				UserDataCache* userDataCachePtr = (*bodyJointsPtr)->m_jointToUserDataMap[userDataGlobalId.m_linkIndex];
-				if (!userDataCachePtr) 
-				{
-					UserDataCache cache;
-					(*bodyJointsPtr)->m_jointToUserDataMap.insert(userDataGlobalId.m_linkIndex, cache);
-				}
-				userDataCachePtr = (*bodyJointsPtr)->m_jointToUserDataMap[userDataGlobalId.m_linkIndex];
-
 				const char *dataStream = m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor;
-				
-				SharedMemoryUserData* userDataPtr = (userDataCachePtr)->m_userDataMap[userDataGlobalId.m_userDataId];
-				if (userDataPtr) {
+				SharedMemoryUserData* userData = m_data->m_userDataMap[response.m_userDataId];
+				if (userData) {
 					// Only replace the value.
-					userDataPtr->replaceValue(dataStream, serverCmd.m_userDataResponseArgs.m_valueLength, serverCmd.m_userDataResponseArgs.m_valueType);
+					userData->replaceValue(dataStream, response.m_valueLength, response.m_valueType);
 				}
 				else {
 					// Add a new user data entry.
-					const char *key = serverCmd.m_userDataResponseArgs.m_key;
-					(userDataCachePtr)->m_userDataMap.insert(userDataGlobalId.m_userDataId, SharedMemoryUserData(key));
-					(userDataCachePtr)->m_keyToUserDataIdMap.insert(key, userDataGlobalId.m_userDataId);
-					userDataPtr = (userDataCachePtr)->m_userDataMap[userDataGlobalId.m_userDataId];
-					userDataPtr->replaceValue(dataStream, serverCmd.m_userDataResponseArgs.m_valueLength, serverCmd.m_userDataResponseArgs.m_valueType);
+					const char *key = response.m_key;
+					m_data->m_userDataMap.insert(response.m_userDataId, SharedMemoryUserData(key, response.m_bodyUniqueId, response.m_linkIndex, response.m_visualShapeIndex));
+					userData = m_data->m_userDataMap[response.m_userDataId];
+					userData->replaceValue(dataStream, response.m_valueLength, response.m_valueType);
+					m_data->m_userDataHandleLookup.insert(SharedMemoryUserDataHashKey(userData), response.m_userDataId);
+					(*bodyJointsPtr)->m_userDataIds.push_back(response.m_userDataId);
 				}
 			}
 		}
@@ -1468,12 +1458,12 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
 
 			if (m_data->m_userDataIdsRequestInfo.size() > 0) {
 				// Request individual user data entries.
-				const b3UserDataGlobalIdentifier userDataGlobalId = m_data->m_userDataIdsRequestInfo[m_data->m_userDataIdsRequestInfo.size()-1];
+				const int userDataId = m_data->m_userDataIdsRequestInfo[m_data->m_userDataIdsRequestInfo.size()-1];
 				m_data->m_userDataIdsRequestInfo.pop_back();
 
 				SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];
 				command.m_type = CMD_REQUEST_USER_DATA;
-				command.m_userDataRequestArgs = userDataGlobalId;
+				command.m_userDataRequestArgs.m_userDataId = userDataId;
 				submitClientCommand(command);
 				return 0;
 			}
@@ -1482,19 +1472,15 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
 
 		if (serverCmd.m_type == CMD_REMOVE_USER_DATA_COMPLETED) {
 			B3_PROFILE("CMD_REMOVE_USER_DATA_COMPLETED");
-			const b3UserDataGlobalIdentifier userDataGlobalId = serverCmd.m_removeUserDataResponseArgs;
-			BodyJointInfoCache** bodyJointsPtr = m_data->m_bodyJointMap[userDataGlobalId.m_bodyUniqueId];
-			if (bodyJointsPtr && *bodyJointsPtr) {
-				UserDataCache* userDataCachePtr = (*bodyJointsPtr)->m_jointToUserDataMap[userDataGlobalId.m_linkIndex];
-				if (userDataCachePtr) 
-				{
-					SharedMemoryUserData *userDataPtr = (userDataCachePtr)->m_userDataMap[userDataGlobalId.m_userDataId];
-					if (userDataPtr) 
-					{
-						(userDataCachePtr)->m_keyToUserDataIdMap.remove((userDataPtr)->m_key.c_str());
-						(userDataCachePtr)->m_userDataMap.remove(userDataGlobalId.m_userDataId);
-					}
+			const int userDataId = serverCmd.m_removeUserDataResponseArgs.m_userDataId;
+			SharedMemoryUserData *userData = m_data->m_userDataMap[userDataId];
+			if (userData) {
+				BodyJointInfoCache** bodyJointsPtr = m_data->m_bodyJointMap[userData->m_bodyUniqueId];
+				if (bodyJointsPtr && *bodyJointsPtr) {
+					(*bodyJointsPtr)->m_userDataIds.remove(userDataId);
 				}
+				m_data->m_userDataHandleLookup.remove(SharedMemoryUserDataHashKey(userData));
+				m_data->m_userDataMap.remove(userDataId);
 			}
 		}
 
@@ -1852,16 +1838,8 @@ double PhysicsClientSharedMemory::getTimeOut() const
 	return m_data->m_timeOutInSeconds;
 }
 
-bool PhysicsClientSharedMemory::getCachedUserData(int bodyUniqueId, int linkIndex, int userDataId, struct b3UserDataValue &valueOut) const {
-	BodyJointInfoCache** bodyJointsPtr = m_data->m_bodyJointMap[bodyUniqueId];
-	if (!bodyJointsPtr || !(*bodyJointsPtr)) {
-		return false;
-	}
-	UserDataCache* userDataCachePtr = (*bodyJointsPtr)->m_jointToUserDataMap[linkIndex];
-	if (!userDataCachePtr) {
-		return false;
-	}
-	SharedMemoryUserData *userDataPtr = (userDataCachePtr)->m_userDataMap[userDataId];
+bool PhysicsClientSharedMemory::getCachedUserData(int userDataId, struct b3UserDataValue &valueOut) const {
+	SharedMemoryUserData *userDataPtr = m_data->m_userDataMap[userDataId];
 	if (!userDataPtr) 
 	{
 		return false;
@@ -1872,54 +1850,37 @@ bool PhysicsClientSharedMemory::getCachedUserData(int bodyUniqueId, int linkInde
 	return true;
 }
 
-int PhysicsClientSharedMemory::getCachedUserDataId(int bodyUniqueId, int linkIndex, const char *key) const {
-	BodyJointInfoCache** bodyJointsPtr = m_data->m_bodyJointMap[bodyUniqueId];
-	if (!bodyJointsPtr || !(*bodyJointsPtr)) {
-		return -1;
-	}
-	UserDataCache* userDataCachePtr = (*bodyJointsPtr)->m_jointToUserDataMap[linkIndex];
-	if (!userDataCachePtr) 
-	{
-		return -1;
-	}
-	int *userDataId = (userDataCachePtr)->m_keyToUserDataIdMap[key];
+int PhysicsClientSharedMemory::getCachedUserDataId(int bodyUniqueId, int linkIndex, int visualShapeIndex, const char *key) const {
+	int* userDataId = m_data->m_userDataHandleLookup.find(SharedMemoryUserDataHashKey(key, bodyUniqueId, linkIndex, visualShapeIndex));
 	if (!userDataId) {
 		return -1;
 	}
 	return *userDataId;
 }
 
-int PhysicsClientSharedMemory::getNumUserData(int bodyUniqueId, int linkIndex) const {
+int PhysicsClientSharedMemory::getNumUserData(int bodyUniqueId) const {
 	BodyJointInfoCache** bodyJointsPtr = m_data->m_bodyJointMap[bodyUniqueId];
 	if (!bodyJointsPtr || !(*bodyJointsPtr)) {
 		return 0;
 	}
-	UserDataCache* userDataCachePtr = (*bodyJointsPtr)->m_jointToUserDataMap[linkIndex];
-	if (!userDataCachePtr) 
-	{
-		return 0;
-	}
-	return (userDataCachePtr)->m_userDataMap.size();
+	return (*bodyJointsPtr)->m_userDataIds.size();
 }
 
-void PhysicsClientSharedMemory::getUserDataInfo(int bodyUniqueId, int linkIndex, int userDataIndex, const char **keyOut, int *userDataIdOut) const {
+void PhysicsClientSharedMemory::getUserDataInfo(int bodyUniqueId, int userDataIndex, const char **keyOut, int *userDataIdOut, int *linkIndexOut, int *visualShapeIndexOut) const {
 	BodyJointInfoCache** bodyJointsPtr = m_data->m_bodyJointMap[bodyUniqueId];
-	if (!bodyJointsPtr || !(*bodyJointsPtr)) 
+	if (!bodyJointsPtr || !(*bodyJointsPtr) || userDataIndex < 0 || userDataIndex > (*bodyJointsPtr)->m_userDataIds.size()) 
 	{
 		*keyOut = 0;
 		*userDataIdOut = -1;
 		return;
 	}
-	UserDataCache* userDataCachePtr = (*bodyJointsPtr)->m_jointToUserDataMap[linkIndex];
-	if (!userDataCachePtr || userDataIndex >= (userDataCachePtr)->m_userDataMap.size()) 
-	{
-		*keyOut = 0;
-		*userDataIdOut = -1;
-		return;
-	}
-	*userDataIdOut = (userDataCachePtr)->m_userDataMap.getKeyAtIndex(userDataIndex).getUid1();
-	SharedMemoryUserData *userDataPtr = (userDataCachePtr)->m_userDataMap.getAtIndex(userDataIndex);
-	*keyOut = (userDataPtr)->m_key.c_str();
+	int userDataId = (*bodyJointsPtr)->m_userDataIds[userDataIndex];
+	SharedMemoryUserData *userData = m_data->m_userDataMap[userDataId];
+
+	*userDataIdOut = userDataId;
+	*keyOut = userData->m_key.c_str();
+	*linkIndexOut = userData->m_linkIndex;
+	*visualShapeIndexOut = userData->m_visualShapeIndex;
 }
 
 
diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.h b/examples/SharedMemory/PhysicsClientSharedMemory.h
index 10c1c63fb..37d30a55e 100644
--- a/examples/SharedMemory/PhysicsClientSharedMemory.h
+++ b/examples/SharedMemory/PhysicsClientSharedMemory.h
@@ -85,10 +85,10 @@ public:
 	virtual void setTimeOut(double timeOutInSeconds);
 	virtual double getTimeOut() const;
 
-    virtual bool getCachedUserData(int bodyUniqueId, int linkIndex, int userDataId, struct b3UserDataValue &valueOut) const;
-    virtual int getCachedUserDataId(int bodyUniqueId, int linkIndex, const char *key) const;
-    virtual int getNumUserData(int bodyUniqueId, int linkIndex) const;
-    virtual void getUserDataInfo(int bodyUniqueId, int linkIndex, int userDataIndex, const char **keyOut, int *userDataIdOut) const;
+	virtual bool getCachedUserData(int userDataId, struct b3UserDataValue &valueOut) const;
+	virtual int getCachedUserDataId(int bodyUniqueId, int linkIndex, int visualShapeIndex, const char *key) const;
+	virtual int getNumUserData(int bodyUniqueId) const;
+	virtual void getUserDataInfo(int bodyUniqueId, int userDataIndex, const char **keyOut, int *userDataIdOut, int *linkIndexOut, int *visualShapeIndexOut) const;
 
 	virtual void pushProfileTiming(const char* timingName);
 	virtual void popProfileTiming();
diff --git a/examples/SharedMemory/PhysicsDirect.cpp b/examples/SharedMemory/PhysicsDirect.cpp
index 45f85d75c..f1fb24548 100644
--- a/examples/SharedMemory/PhysicsDirect.cpp
+++ b/examples/SharedMemory/PhysicsDirect.cpp
@@ -16,24 +16,13 @@
 #include "SharedMemoryUserData.h"
 #include "LinearMath/btQuickprof.h"
 
-struct UserDataCache {
-	btHashMap<btHashInt, SharedMemoryUserData> m_userDataMap;
-	btHashMap<btHashString, int> m_keyToUserDataIdMap;
-
-	~UserDataCache() 
-	{
-		
-	}
-};
 
 struct BodyJointInfoCache2
 {
 	std::string m_baseName;
 	btAlignedObjectArray<b3JointInfo> m_jointInfo;
 	std::string m_bodyName;
-
-	// Joint index -> user data.
-	btHashMap<btHashInt, UserDataCache> m_jointToUserDataMap;
+	btAlignedObjectArray<int> m_userDataIds;
 
 	~BodyJointInfoCache2() {
 	}
@@ -85,6 +74,9 @@ struct PhysicsDirectInternalData
 
 	btAlignedObjectArray<b3RayHitInfo>	m_raycastHits;
 
+	btHashMap<btHashInt, SharedMemoryUserData> m_userDataMap;
+	btHashMap<SharedMemoryUserDataHashKey, int> m_userDataHandleLookup;
+
 	PhysicsCommandProcessorInterface* m_commandProcessor;
 	bool m_ownsCommandProcessor;
 	double m_timeOutInSeconds;
@@ -685,34 +677,23 @@ void PhysicsDirect::processBodyJointInfo(int bodyUniqueId, const SharedMemorySta
 }
 
 void PhysicsDirect::processAddUserData(const struct SharedMemoryStatus& serverCmd) {
-	const b3UserDataGlobalIdentifier userDataGlobalId = serverCmd.m_userDataResponseArgs.m_userDataGlobalId;
-	BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap[userDataGlobalId.m_bodyUniqueId];
-	if (bodyJointsPtr && *bodyJointsPtr) 
-	{
-		UserDataCache* userDataCachePtr = (*bodyJointsPtr)->m_jointToUserDataMap[userDataGlobalId.m_linkIndex];
-		if (!userDataCachePtr) 
-		{
-			UserDataCache cache;
-			(*bodyJointsPtr)->m_jointToUserDataMap.insert(userDataGlobalId.m_linkIndex, cache);
-		}
-		userDataCachePtr = (*bodyJointsPtr)->m_jointToUserDataMap[userDataGlobalId.m_linkIndex];
-
+	const UserDataResponseArgs response = serverCmd.m_userDataResponseArgs;
+	BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap[response.m_bodyUniqueId];
+	if (bodyJointsPtr && *bodyJointsPtr) {
 		const char *dataStream = m_data->m_bulletStreamDataServerToClient;
-
-		b3UserDataValue userDataValue;
-		userDataValue.m_type = serverCmd.m_userDataResponseArgs.m_valueType;
-		userDataValue.m_length = serverCmd.m_userDataResponseArgs.m_valueLength;
-		SharedMemoryUserData *userDataPtr = userDataCachePtr->m_userDataMap[userDataGlobalId.m_userDataId];
-		if (userDataPtr) {
+		SharedMemoryUserData* userData = m_data->m_userDataMap[response.m_userDataId];
+		if (userData) {
 			// Only replace the value.
-			(userDataPtr)->replaceValue(dataStream,serverCmd.m_userDataResponseArgs.m_valueLength,userDataValue.m_type);
+			userData->replaceValue(dataStream, response.m_valueLength, response.m_valueType);
 		}
 		else {
 			// Add a new user data entry.
-			(userDataCachePtr)->m_userDataMap.insert(userDataGlobalId.m_userDataId, SharedMemoryUserData(serverCmd.m_userDataResponseArgs.m_key));
-			userDataPtr = (userDataCachePtr)->m_userDataMap[userDataGlobalId.m_userDataId];
-			userDataPtr->replaceValue(dataStream,serverCmd.m_userDataResponseArgs.m_valueLength,userDataValue.m_type);
-			(userDataCachePtr)->m_keyToUserDataIdMap.insert(serverCmd.m_userDataResponseArgs.m_key, userDataGlobalId.m_userDataId);
+			const char *key = response.m_key;
+			m_data->m_userDataMap.insert(response.m_userDataId, SharedMemoryUserData(key, response.m_bodyUniqueId, response.m_linkIndex, response.m_visualShapeIndex));
+			userData = m_data->m_userDataMap[response.m_userDataId];
+			userData->replaceValue(dataStream, response.m_valueLength, response.m_valueType);
+			m_data->m_userDataHandleLookup.insert(SharedMemoryUserDataHashKey(userData), response.m_userDataId);
+			(*bodyJointsPtr)->m_userDataIds.push_back(response.m_userDataId);
 		}
 	}
 }
@@ -1152,16 +1133,18 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
 			BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap.getAtIndex(i);
 			if (bodyJointsPtr && *bodyJointsPtr)
 			{
-				(*bodyJointsPtr)->m_jointToUserDataMap.clear();
+				(*bodyJointsPtr)->m_userDataIds.clear();
 			}
+			m_data->m_userDataMap.clear();
+			m_data->m_userDataHandleLookup.clear();
 		}
 		const int numIdentifiers = serverCmd.m_syncUserDataArgs.m_numUserDataIdentifiers;
-		b3UserDataGlobalIdentifier *identifiers = new b3UserDataGlobalIdentifier[numIdentifiers];
-		memcpy(identifiers, &m_data->m_bulletStreamDataServerToClient[0], numIdentifiers * sizeof(b3UserDataGlobalIdentifier));
+		int *identifiers = new int[numIdentifiers];
+		memcpy(identifiers, &m_data->m_bulletStreamDataServerToClient[0], numIdentifiers * sizeof(int));
 
 		for (int i=0; i<numIdentifiers; i++) {
 			m_data->m_tmpInfoRequestCommand.m_type = CMD_REQUEST_USER_DATA;
-			m_data->m_tmpInfoRequestCommand.m_userDataRequestArgs = identifiers[i];
+			m_data->m_tmpInfoRequestCommand.m_userDataRequestArgs.m_userDataId = identifiers[i];
 
 			bool hasStatus = m_data->m_commandProcessor->processCommand(m_data->m_tmpInfoRequestCommand, m_data->m_tmpInfoStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
 
@@ -1184,18 +1167,15 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
 	}
 	case CMD_REMOVE_USER_DATA_COMPLETED:
 	{
-		const b3UserDataGlobalIdentifier userDataGlobalId = serverCmd.m_removeUserDataResponseArgs;
-		BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap[userDataGlobalId.m_bodyUniqueId];
-		if (bodyJointsPtr && *bodyJointsPtr) {
-			UserDataCache *userDataCachePtr = (*bodyJointsPtr)->m_jointToUserDataMap[userDataGlobalId.m_linkIndex];
-			if (userDataCachePtr) 
-			{
-				SharedMemoryUserData* userDataPtr = (userDataCachePtr)->m_userDataMap[userDataGlobalId.m_userDataId];
-				if (userDataPtr) {
-					(userDataCachePtr)->m_keyToUserDataIdMap.remove((userDataPtr)->m_key.c_str());
-					(userDataCachePtr)->m_userDataMap.remove(userDataGlobalId.m_userDataId);
-				}
+		const int userDataId = serverCmd.m_removeUserDataResponseArgs.m_userDataId;
+		SharedMemoryUserData *userData = m_data->m_userDataMap[userDataId];
+		if (userData) {
+			BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap[userData->m_bodyUniqueId];
+			if (bodyJointsPtr && *bodyJointsPtr) {
+				(*bodyJointsPtr)->m_userDataIds.remove(userDataId);
 			}
+			m_data->m_userDataHandleLookup.remove(SharedMemoryUserDataHashKey(userData));
+			m_data->m_userDataMap.remove(userDataId);
 		}
 		break;
 	}
@@ -1253,6 +1233,12 @@ void PhysicsDirect::removeCachedBody(int bodyUniqueId)
 	BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap[bodyUniqueId];
 	if (bodyJointsPtr && *bodyJointsPtr)
 	{
+		for(int i=0; i<(*bodyJointsPtr)->m_userDataIds.size(); i++) {
+			const int userDataId = (*bodyJointsPtr)->m_userDataIds[i];
+			SharedMemoryUserData *userData = m_data->m_userDataMap[userDataId];
+			m_data->m_userDataHandleLookup.remove(SharedMemoryUserDataHashKey(userData));
+			m_data->m_userDataMap.remove(userDataId);
+		}
 		delete (*bodyJointsPtr);
 		m_data->m_bodyJointMap.remove(bodyUniqueId);
 	}
@@ -1499,72 +1485,49 @@ double PhysicsDirect::getTimeOut() const
 	return m_data->m_timeOutInSeconds;
 }
 
-bool PhysicsDirect::getCachedUserData(int bodyUniqueId, int linkIndex, int userDataId, struct b3UserDataValue &valueOut) const {
-	BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap[bodyUniqueId];
-	if (!bodyJointsPtr || !(*bodyJointsPtr)) {
-		return false;
-	}
-	UserDataCache* userDataCachePtr = (*bodyJointsPtr)->m_jointToUserDataMap[linkIndex];
-	if (!userDataCachePtr) 
-	{
-		return false;
-	}
-	SharedMemoryUserData* userDataPtr = (userDataCachePtr)->m_userDataMap[userDataId];
+bool PhysicsDirect::getCachedUserData(int userDataId, struct b3UserDataValue &valueOut) const {
+	SharedMemoryUserData *userDataPtr = m_data->m_userDataMap[userDataId];
 	if (!userDataPtr) 
 	{
 		return false;
 	}
-	valueOut.m_type = userDataPtr->m_type;
+	valueOut.m_type = (userDataPtr)->m_type;
 	valueOut.m_length = userDataPtr->m_bytes.size();
 	valueOut.m_data1 = userDataPtr->m_bytes.size()? &userDataPtr->m_bytes[0] : 0;
 	return true;
 }
 
-int PhysicsDirect::getCachedUserDataId(int bodyUniqueId, int linkIndex, const char *key) const {
-	BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap[bodyUniqueId];
-	if (!bodyJointsPtr || !(*bodyJointsPtr)) {
-		return -1;
-	}
-	UserDataCache* userDataCachePtr = (*bodyJointsPtr)->m_jointToUserDataMap[linkIndex];
-	if (!userDataCachePtr) {
-		return -1;
-	}
-	int *userDataId = (userDataCachePtr)->m_keyToUserDataIdMap[key];
+int PhysicsDirect::getCachedUserDataId(int bodyUniqueId, int linkIndex, int visualShapeIndex, const char *key) const {
+	int* userDataId = m_data->m_userDataHandleLookup.find(SharedMemoryUserDataHashKey(key, bodyUniqueId, linkIndex, visualShapeIndex));
 	if (!userDataId) {
 		return -1;
 	}
 	return *userDataId;
 }
 
-int PhysicsDirect::getNumUserData(int bodyUniqueId, int linkIndex) const {
+int PhysicsDirect::getNumUserData(int bodyUniqueId) const {
 	BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap[bodyUniqueId];
 	if (!bodyJointsPtr || !(*bodyJointsPtr)) {
 		return 0;
 	}
-	UserDataCache* userDataCachePtr = (*bodyJointsPtr)->m_jointToUserDataMap[linkIndex];
-	if (!userDataCachePtr) {
-		return 0;
-	}
-	return (userDataCachePtr)->m_userDataMap.size();
+	return (*bodyJointsPtr)->m_userDataIds.size();
 }
 
-void PhysicsDirect::getUserDataInfo(int bodyUniqueId, int linkIndex, int userDataIndex, const char **keyOut, int *userDataIdOut) const {
+void PhysicsDirect::getUserDataInfo(int bodyUniqueId, int userDataIndex, const char **keyOut, int *userDataIdOut, int *linkIndexOut, int *visualShapeIndexOut) const {
 	BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap[bodyUniqueId];
-	if (!bodyJointsPtr || !(*bodyJointsPtr)) {
-		*keyOut = 0;
-		*userDataIdOut = -1;
-		return;
-	}
-	UserDataCache* userDataCachePtr = (*bodyJointsPtr)->m_jointToUserDataMap[linkIndex];
-	if (!userDataCachePtr || userDataIndex >= (userDataCachePtr)->m_userDataMap.size()) 
+	if (!bodyJointsPtr || !(*bodyJointsPtr) || userDataIndex <= 0 || userDataIndex > (*bodyJointsPtr)->m_userDataIds.size()) 
 	{
 		*keyOut = 0;
 		*userDataIdOut = -1;
 		return;
 	}
-	*userDataIdOut = (userDataCachePtr)->m_userDataMap.getKeyAtIndex(userDataIndex).getUid1();
-	SharedMemoryUserData* userDataPtr = (userDataCachePtr)->m_userDataMap.getAtIndex(userDataIndex);
-	*keyOut = (userDataPtr)->m_key.c_str();
+	int userDataId = (*bodyJointsPtr)->m_userDataIds[userDataIndex];
+	SharedMemoryUserData *userData = m_data->m_userDataMap[userDataId];
+
+	*userDataIdOut = userDataId;
+	*keyOut = userData->m_key.c_str();
+	*linkIndexOut = userData->m_linkIndex;
+	*visualShapeIndexOut = userData->m_visualShapeIndex;
 }
 
 
diff --git a/examples/SharedMemory/PhysicsDirect.h b/examples/SharedMemory/PhysicsDirect.h
index 2b4a9d634..f0c75e750 100644
--- a/examples/SharedMemory/PhysicsDirect.h
+++ b/examples/SharedMemory/PhysicsDirect.h
@@ -115,10 +115,10 @@ public:
 	virtual void setTimeOut(double timeOutInSeconds);
 	virtual double getTimeOut() const;
 
-    virtual bool getCachedUserData(int bodyUniqueId, int linkIndex, int userDataId, struct b3UserDataValue &valueOut) const;
-    virtual int getCachedUserDataId(int bodyUniqueId, int linkIndex, const char *key) const;
-    virtual int getNumUserData(int bodyUniqueId, int linkIndex) const;
-    virtual void getUserDataInfo(int bodyUniqueId, int linkIndex, int userDataIndex, const char **keyOut, int *userDataIdOut) const;
+	virtual bool getCachedUserData(int userDataId, struct b3UserDataValue &valueOut) const;
+	virtual int getCachedUserDataId(int bodyUniqueId, int linkIndex, int visualShapeIndex, const char *key) const;
+	virtual int getNumUserData(int bodyUniqueId) const;
+	virtual void getUserDataInfo(int bodyUniqueId, int userDataIndex, const char **keyOut, int *userDataIdOut, int *linkIndexOut, int *visualShapeIndexOut) const;
 	
 	virtual void pushProfileTiming(const char* timingName);
 	virtual void popProfileTiming();
diff --git a/examples/SharedMemory/PhysicsLoopBack.cpp b/examples/SharedMemory/PhysicsLoopBack.cpp
index 4a4b00d70..f615f0903 100644
--- a/examples/SharedMemory/PhysicsLoopBack.cpp
+++ b/examples/SharedMemory/PhysicsLoopBack.cpp
@@ -231,20 +231,20 @@ double PhysicsLoopBack::getTimeOut() const
 	return m_data->m_physicsClient->getTimeOut();
 }
 
-bool PhysicsLoopBack::getCachedUserData(int bodyUniqueId, int linkIndex, int userDataId, struct b3UserDataValue &valueOut) const {
-	return m_data->m_physicsClient->getCachedUserData(bodyUniqueId, linkIndex, userDataId, valueOut);
+bool PhysicsLoopBack::getCachedUserData(int userDataId, struct b3UserDataValue &valueOut)  const {
+	return m_data->m_physicsClient->getCachedUserData(userDataId, valueOut);
 }
 
-int PhysicsLoopBack::getCachedUserDataId(int bodyUniqueId, int linkIndex, const char *key) const {
-	return m_data->m_physicsClient->getCachedUserDataId(bodyUniqueId, linkIndex, key);
+int PhysicsLoopBack::getCachedUserDataId(int bodyUniqueId, int linkIndex, int visualShapeIndex, const char *key) const {
+	return m_data->m_physicsClient->getCachedUserDataId(bodyUniqueId, linkIndex, visualShapeIndex, key);
 }
 
-int PhysicsLoopBack::getNumUserData(int bodyUniqueId, int linkIndex) const {
-	return m_data->m_physicsClient->getNumUserData(bodyUniqueId, linkIndex);
+int PhysicsLoopBack::getNumUserData(int bodyUniqueId) const {
+	return m_data->m_physicsClient->getNumUserData(bodyUniqueId);
 }
 
-void PhysicsLoopBack::getUserDataInfo(int bodyUniqueId, int linkIndex, int userDataIndex, const char **keyOut, int *userDataIdOut) const {
-	m_data->m_physicsClient->getUserDataInfo(bodyUniqueId, linkIndex, userDataIndex, keyOut, userDataIdOut);
+void PhysicsLoopBack::getUserDataInfo(int bodyUniqueId, int userDataIndex, const char **keyOut, int *userDataIdOut, int *linkIndexOut, int *visualShapeIndexOut) const {
+	m_data->m_physicsClient->getUserDataInfo(bodyUniqueId, userDataIndex, keyOut, userDataIdOut, linkIndexOut, visualShapeIndexOut);
 }
 
 void PhysicsLoopBack::pushProfileTiming(const char* timingName)
@@ -254,4 +254,4 @@ void PhysicsLoopBack::pushProfileTiming(const char* timingName)
 void PhysicsLoopBack::popProfileTiming()
 {
 	m_data->m_physicsClient->popProfileTiming();
-}
\ No newline at end of file
+}
diff --git a/examples/SharedMemory/PhysicsLoopBack.h b/examples/SharedMemory/PhysicsLoopBack.h
index e18fa22f8..d5449452e 100644
--- a/examples/SharedMemory/PhysicsLoopBack.h
+++ b/examples/SharedMemory/PhysicsLoopBack.h
@@ -89,10 +89,10 @@ public:
 	virtual void setTimeOut(double timeOutInSeconds);
 	virtual double getTimeOut() const;
 
-    virtual bool getCachedUserData(int bodyUniqueId, int linkIndex, int userDataId, struct b3UserDataValue &valueOut) const;
-    virtual int getCachedUserDataId(int bodyUniqueId, int linkIndex, const char *key) const;
-    virtual int getNumUserData(int bodyUniqueId, int linkIndex) const;
-    virtual void getUserDataInfo(int bodyUniqueId, int linkIndex, int userDataIndex, const char **keyOut, int *userDataIdOut) const;
+	virtual bool getCachedUserData(int userDataId, struct b3UserDataValue &valueOut) const;
+	virtual int getCachedUserDataId(int bodyUniqueId, int linkIndex, int visualShapeIndex, const char *key) const;
+	virtual int getNumUserData(int bodyUniqueId) const;
+	virtual void getUserDataInfo(int bodyUniqueId, int userDataIndex, const char **keyOut, int *userDataIdOut, int *linkIndexOut, int *visualShapeIndexOut) const;
 	
 	virtual void pushProfileTiming(const char* timingName);
 	virtual void popProfileTiming();
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index de467657d..ab0314a1a 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -222,72 +222,6 @@ struct InternalCollisionShapeData
 
 #include "SharedMemoryUserData.h"
 
-/**
- * Holds all custom user data entries for a link.
- */
-struct InternalLinkUserData {
-	// Used to look up user data entry handles for string keys.
-	btHashMap<btHashString, int> m_keyToHandleMap;
-	b3ResizablePool<b3PoolBodyHandle<SharedMemoryUserData> > m_userData;
-
-	// Adds or replaces a user data entry. 
-	// Returns the user data handle.
-	const int add(const char* key, const char* bytes, int len, int type) 
-	{
-		// If an entry with the key already exists, just update the value.
-		int userDataId = getUserDataId(key);
-		if (userDataId != -1) {
-			SharedMemoryUserData* userData = m_userData.getHandle(userDataId);
-			b3Assert(userData);
-			userData->replaceValue(bytes, len, type);
-			return userDataId;
-		}
-
-		userDataId = m_userData.allocHandle();
-		SharedMemoryUserData* userData = m_userData.getHandle(userDataId);
-		userData->m_key = key;
-		userData->replaceValue(bytes, len, type);
-		m_keyToHandleMap.insert(userData->m_key.c_str(), userDataId);
-		return userDataId;
-	}
-
-	// Returns the user data handle for a specified key or -1 if not found.
-	const int getUserDataId(const char* key) const 
-	{
-		const int* userDataIdPtr = m_keyToHandleMap.find(key);
-		if (userDataIdPtr) 
-		{
-			return *userDataIdPtr;
-		}
-		return -1;
-	}
-
-	// Removes a user data entry given the handle.
-	// Returns true when the entry was removed, false otherwise.
-	const bool remove(int userDataId) 
-	{
-		const SharedMemoryUserData* userData = m_userData.getHandle(userDataId);
-		if (!userData) 
-		{
-			return false;
-		}
-		m_keyToHandleMap.remove(userData->m_key.c_str());
-		m_userData.freeHandle(userDataId);
-		return true;
-	}
-
-	// Returns the user data given the user data id. null otherwise.
-	const SharedMemoryUserData* getUserData(const int userDataId) const 
-	{
-	    return m_userData.getHandle(userDataId);
-	}
-
-	void getUserDataIds(b3AlignedObjectArray<int> &userDataIds) const 
-	{
-		m_userData.getUsedHandles(userDataIds);
-	}
-};
-
 struct InternalBodyData
 {
 	btMultiBody* m_multiBody;
@@ -303,7 +237,7 @@ struct InternalBodyData
 	btAlignedObjectArray<btGeneric6DofSpring2Constraint*> m_rigidBodyJoints;
 	btAlignedObjectArray<std::string> m_rigidBodyJointNames;
 	btAlignedObjectArray<std::string> m_rigidBodyLinkNames;
-	btHashMap<btHashInt, InternalLinkUserData*> m_linkUserDataMap;
+	btAlignedObjectArray<int> m_userDataHandles;
 	
 #ifdef B3_ENABLE_TINY_AUDIO
 	b3HashMap<btHashInt, SDFAudioSource> m_audioSources;
@@ -328,10 +262,7 @@ struct InternalBodyData
 		m_rigidBodyJoints.clear();
 		m_rigidBodyJointNames.clear();
 		m_rigidBodyLinkNames.clear();
-		for(int i=0; i<m_linkUserDataMap.size(); i++) {
-			delete *m_linkUserDataMap.getAtIndex(i);
-		}
-		m_linkUserDataMap.clear();
+		m_userDataHandles.clear();
 	}
 
 };
@@ -1607,8 +1538,8 @@ struct PhysicsServerCommandProcessorInternalData
 	b3ResizablePool< InternalBodyHandle > m_bodyHandles;
 	b3ResizablePool<InternalCollisionShapeHandle> m_userCollisionShapeHandles;
 	b3ResizablePool<InternalVisualShapeHandle> m_userVisualShapeHandles;
-
-
+	b3ResizablePool<b3PoolBodyHandle<SharedMemoryUserData> > m_userDataHandles;
+	btHashMap<SharedMemoryUserDataHashKey, int> m_userDataHandleLookup;
 
 	b3PluginManager m_pluginManager;
 
@@ -5089,34 +5020,11 @@ bool PhysicsServerCommandProcessor::processSyncUserDataCommand(const struct Shar
 	bool hasStatus = true;
 	BT_PROFILE("CMD_SYNC_USER_DATA");
 
-	b3UserDataGlobalIdentifier *userDataIdentifiers = (b3UserDataGlobalIdentifier *)bufferServerToClient;
-	int numIdentifiers = 0;
-	b3AlignedObjectArray<int> bodyHandles;
-	m_data->m_bodyHandles.getUsedHandles(bodyHandles);
-	for (int i=0; i<bodyHandles.size(); i++) {
-		int bodyHandle = bodyHandles[i];
-		InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyHandle);
-		if (!body) {
-			continue;
-		}
-		for (int j=0; j<body->m_linkUserDataMap.size(); j++) {
-			const int linkIndex = body->m_linkUserDataMap.getKeyAtIndex(j).getUid1();
-			InternalLinkUserData **userDataPtr = body->m_linkUserDataMap.getAtIndex(j);
-			if (!userDataPtr) {
-				continue;
-			}
-			b3AlignedObjectArray<int> userDataIds;
-			(*userDataPtr)->getUserDataIds(userDataIds);
-			for (int k=0; k<userDataIds.size(); k++) {
-				b3UserDataGlobalIdentifier &identifier = userDataIdentifiers[numIdentifiers++];
-				identifier.m_bodyUniqueId = bodyHandle;
-				identifier.m_linkIndex = linkIndex;
-				identifier.m_userDataId = userDataIds[k];
-			}
-		}
-	}
+	b3AlignedObjectArray<int> userDataHandles;
+	m_data->m_userDataHandles.getUsedHandles(userDataHandles);
+	memcpy(bufferServerToClient, &userDataHandles[0], sizeof(int) * userDataHandles.size());
 
-	serverStatusOut.m_syncUserDataArgs.m_numUserDataIdentifiers = numIdentifiers;
+	serverStatusOut.m_syncUserDataArgs.m_numUserDataIdentifiers = userDataHandles.size();
 	serverStatusOut.m_type = CMD_SYNC_USER_DATA_COMPLETED;
 	return hasStatus;
 }
@@ -5127,21 +5035,16 @@ bool PhysicsServerCommandProcessor::processRequestUserDataCommand(const struct S
 	BT_PROFILE("CMD_REQUEST_USER_DATA");
 	serverStatusOut.m_type = CMD_REQUEST_USER_DATA_FAILED;
 
-	InternalBodyData *body = m_data->m_bodyHandles.getHandle(clientCmd.m_userDataRequestArgs.m_bodyUniqueId);
-	if (!body) {
-		return hasStatus;
-	}
-	const int linkIndex = clientCmd.m_userDataRequestArgs.m_linkIndex;
-	InternalLinkUserData **userDataPtr = body->m_linkUserDataMap[linkIndex];
-	if (!userDataPtr) {
-		return hasStatus;
-	}
-	const SharedMemoryUserData *userData = (*userDataPtr)->getUserData(clientCmd.m_userDataRequestArgs.m_userDataId);
+	SharedMemoryUserData *userData = m_data->m_userDataHandles.getHandle(clientCmd.m_userDataRequestArgs.m_userDataId);
 	if (!userData) {
 		return hasStatus;
 	}
-    btAssert(bufferSizeInBytes >= userData->m_bytes.size());
-	serverStatusOut.m_userDataResponseArgs.m_userDataGlobalId = clientCmd.m_userDataRequestArgs;
+
+	btAssert(bufferSizeInBytes >= userData->m_bytes.size());
+	serverStatusOut.m_userDataResponseArgs.m_userDataId = clientCmd.m_userDataRequestArgs.m_userDataId;
+	serverStatusOut.m_userDataResponseArgs.m_bodyUniqueId = userData->m_bodyUniqueId;
+	serverStatusOut.m_userDataResponseArgs.m_linkIndex = userData->m_linkIndex;
+	serverStatusOut.m_userDataResponseArgs.m_visualShapeIndex = userData->m_visualShapeIndex;
 	serverStatusOut.m_userDataResponseArgs.m_valueType = userData->m_type;
 	serverStatusOut.m_userDataResponseArgs.m_valueLength = userData->m_bytes.size();
 	serverStatusOut.m_type = CMD_REQUEST_USER_DATA_COMPLETED;
@@ -5164,27 +5067,43 @@ bool PhysicsServerCommandProcessor::processAddUserDataCommand(const struct Share
 	{
 		return hasStatus;
 	}
-	
+
 	InternalBodyData *body = m_data->m_bodyHandles.getHandle(clientCmd.m_addUserDataRequestArgs.m_bodyUniqueId);
 	if (!body) {
 		return hasStatus;
 	}
-	const int linkIndex = clientCmd.m_addUserDataRequestArgs.m_linkIndex;
-	InternalLinkUserData **userDataPtr = body->m_linkUserDataMap[linkIndex];
-	if (!userDataPtr) {
-		InternalLinkUserData *userData = new InternalLinkUserData;
-		userDataPtr = &userData;
-		body->m_linkUserDataMap.insert(linkIndex, userData);
+	
+	SharedMemoryUserDataHashKey userDataIdentifier(
+		clientCmd.m_addUserDataRequestArgs.m_key,
+		clientCmd.m_addUserDataRequestArgs.m_bodyUniqueId,
+		clientCmd.m_addUserDataRequestArgs.m_linkIndex,
+		clientCmd.m_addUserDataRequestArgs.m_visualShapeIndex);
+
+	int* userDataHandlePtr = m_data->m_userDataHandleLookup.find(userDataIdentifier);
+	int userDataHandle = userDataHandlePtr ? *userDataHandlePtr : m_data->m_userDataHandles.allocHandle();
+
+	SharedMemoryUserData *userData = m_data->m_userDataHandles.getHandle(userDataHandle);
+	if (!userData) {
+		return hasStatus;
 	}
 
-	const int userDataId = (*userDataPtr)->add(clientCmd.m_addUserDataRequestArgs.m_key,
-		 bufferServerToClient,clientCmd.m_addUserDataRequestArgs.m_valueLength,
+	if (!userDataHandlePtr) {
+		userData->m_key = clientCmd.m_addUserDataRequestArgs.m_key;
+		userData->m_bodyUniqueId = clientCmd.m_addUserDataRequestArgs.m_bodyUniqueId;
+		userData->m_linkIndex = clientCmd.m_addUserDataRequestArgs.m_linkIndex;
+		userData->m_visualShapeIndex = clientCmd.m_addUserDataRequestArgs.m_visualShapeIndex;
+		m_data->m_userDataHandleLookup.insert(userDataIdentifier, userDataHandle);
+		body->m_userDataHandles.push_back(userDataHandle);
+	}
+	userData->replaceValue(bufferServerToClient,
+		clientCmd.m_addUserDataRequestArgs.m_valueLength,
 		clientCmd.m_addUserDataRequestArgs.m_valueType);
 
 	serverStatusOut.m_type = CMD_ADD_USER_DATA_COMPLETED;
-	serverStatusOut.m_userDataResponseArgs.m_userDataGlobalId.m_userDataId = userDataId;
-	serverStatusOut.m_userDataResponseArgs.m_userDataGlobalId.m_bodyUniqueId = clientCmd.m_addUserDataRequestArgs.m_bodyUniqueId;
-	serverStatusOut.m_userDataResponseArgs.m_userDataGlobalId.m_linkIndex = clientCmd.m_addUserDataRequestArgs.m_linkIndex;
+	serverStatusOut.m_userDataResponseArgs.m_userDataId = userDataHandle;
+	serverStatusOut.m_userDataResponseArgs.m_bodyUniqueId = clientCmd.m_addUserDataRequestArgs.m_bodyUniqueId;
+	serverStatusOut.m_userDataResponseArgs.m_linkIndex = clientCmd.m_addUserDataRequestArgs.m_linkIndex;
+	serverStatusOut.m_userDataResponseArgs.m_visualShapeIndex = clientCmd.m_addUserDataRequestArgs.m_visualShapeIndex;
 	serverStatusOut.m_userDataResponseArgs.m_valueLength = clientCmd.m_addUserDataRequestArgs.m_valueLength;
 	serverStatusOut.m_userDataResponseArgs.m_valueType = clientCmd.m_addUserDataRequestArgs.m_valueType;
 	strcpy(serverStatusOut.m_userDataResponseArgs.m_key, clientCmd.m_addUserDataRequestArgs.m_key);
@@ -5199,19 +5118,20 @@ bool PhysicsServerCommandProcessor::processRemoveUserDataCommand(const struct Sh
 	BT_PROFILE("CMD_REMOVE_USER_DATA");
 	serverStatusOut.m_type = CMD_REMOVE_USER_DATA_FAILED;
 
-	InternalBodyData *body = m_data->m_bodyHandles.getHandle(clientCmd.m_removeUserDataRequestArgs.m_bodyUniqueId);
+	SharedMemoryUserData *userData = m_data->m_userDataHandles.getHandle(clientCmd.m_removeUserDataRequestArgs.m_userDataId);
+	if (!userData) {
+		return hasStatus;
+	}
+
+	InternalBodyData *body = m_data->m_bodyHandles.getHandle(userData->m_bodyUniqueId);
 	if (!body) {
 		return hasStatus;
 	}
-	const int linkIndex = clientCmd.m_removeUserDataRequestArgs.m_linkIndex;
-	InternalLinkUserData **userDataPtr = body->m_linkUserDataMap[linkIndex];
-	if (!userDataPtr) {
-		return hasStatus;
-	}
-	const bool removed = (*userDataPtr)->remove(clientCmd.m_removeUserDataRequestArgs.m_userDataId);
-	if (!removed) {
-		return hasStatus;
-	}
+	body->m_userDataHandles.remove(clientCmd.m_removeUserDataRequestArgs.m_userDataId);
+
+	m_data->m_userDataHandleLookup.remove(SharedMemoryUserDataHashKey(userData));
+	m_data->m_userDataHandles.freeHandle(clientCmd.m_removeUserDataRequestArgs.m_userDataId);
+
 	serverStatusOut.m_removeUserDataResponseArgs = clientCmd.m_removeUserDataRequestArgs;
 	serverStatusOut.m_type = CMD_REMOVE_USER_DATA_COMPLETED;
 	return hasStatus;
@@ -8325,6 +8245,12 @@ bool PhysicsServerCommandProcessor::processRemoveBodyCommand(const struct Shared
 				bodyHandle->m_rigidBody=0;
 				serverCmd.m_type = CMD_REMOVE_BODY_COMPLETED;
 			}
+			for (int i=0; i < bodyHandle->m_userDataHandles.size(); i++) {
+				int userDataHandle = bodyHandle->m_userDataHandles[i];
+				SharedMemoryUserData *userData = m_data->m_userDataHandles.getHandle(userDataHandle);
+				m_data->m_userDataHandleLookup.remove(SharedMemoryUserDataHashKey(userData));
+				m_data->m_userDataHandles.freeHandle(userDataHandle);
+			}
 			m_data->m_bodyHandles.freeHandle(bodyUniqueId);
 		}
 
@@ -10561,6 +10487,9 @@ void PhysicsServerCommandProcessor::resetSimulation()
 	m_data->m_userCollisionShapeHandles.exitHandles();
 	m_data->m_userCollisionShapeHandles.initHandles();
 
+	m_data->m_userDataHandles.exitHandles();
+	m_data->m_userDataHandles.initHandles();
+	m_data->m_userDataHandleLookup.clear();
 }
 
 
diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h
index b94ed8666..e92333b43 100644
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -993,13 +993,20 @@ struct b3StateSerializationArguments
 struct SyncUserDataArgs
 {
 	// User data identifiers stored in m_bulletStreamDataServerToClientRefactor
-	// as as array of b3UserDataGlobalIdentifier objects
+	// as as array of integers.
 	int m_numUserDataIdentifiers;
 };
 
+struct UserDataRequestArgs {
+  int m_userDataId;
+};
+
 struct UserDataResponseArgs
 {
-	b3UserDataGlobalIdentifier m_userDataGlobalId;
+	int m_userDataId;
+	int m_bodyUniqueId;
+	int m_linkIndex;
+	int m_visualShapeIndex;
 	int m_valueType;
 	int m_valueLength;
 	char m_key[MAX_USER_DATA_KEY_LENGTH];
@@ -1010,6 +1017,7 @@ struct AddUserDataRequestArgs
 {
 	int m_bodyUniqueId;
 	int m_linkIndex;
+	int m_visualShapeIndex;
 	int m_valueType;
 	int m_valueLength;
 	char m_key[MAX_USER_DATA_KEY_LENGTH];
@@ -1073,9 +1081,9 @@ struct SharedMemoryCommand
 		struct b3CustomCommand m_customCommandArgs;
 		struct b3StateSerializationArguments m_loadStateArguments;
 		struct RequestCollisionShapeDataArgs m_requestCollisionShapeDataArguments;		
-		struct b3UserDataGlobalIdentifier m_userDataRequestArgs;
+		struct UserDataRequestArgs m_userDataRequestArgs;
 		struct AddUserDataRequestArgs m_addUserDataRequestArgs;
-		struct b3UserDataGlobalIdentifier m_removeUserDataRequestArgs;
+		struct UserDataRequestArgs m_removeUserDataRequestArgs;
     };
 };
 
@@ -1150,7 +1158,7 @@ struct SharedMemoryStatus
 		struct SendCollisionShapeDataArgs m_sendCollisionShapeArgs;
 		struct SyncUserDataArgs m_syncUserDataArgs;
 		struct UserDataResponseArgs m_userDataResponseArgs;
-		struct b3UserDataGlobalIdentifier m_removeUserDataResponseArgs;
+		struct UserDataRequestArgs m_removeUserDataResponseArgs;
 	};
 };
 
diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index b96b0fbfe..9ad100bdd 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -7,7 +7,8 @@
 //Please don't replace an existing magic number:
 //instead, only ADD a new one at the top, comment-out previous one
 
-#define SHARED_MEMORY_MAGIC_NUMBER 201806150
+#define SHARED_MEMORY_MAGIC_NUMBER 201807040
+//#define SHARED_MEMORY_MAGIC_NUMBER 201806150
 //#define SHARED_MEMORY_MAGIC_NUMBER 201806020
 //#define SHARED_MEMORY_MAGIC_NUMBER 201801170
 //#define SHARED_MEMORY_MAGIC_NUMBER 201801080
@@ -287,13 +288,6 @@ struct b3UserDataValue
 	char* m_data1;
 };
 
-struct b3UserDataGlobalIdentifier 
-{
-	int m_bodyUniqueId;
-	int m_linkIndex;
-	int m_userDataId;
-};
-
 struct b3UserConstraint
 {
     int m_parentBodyIndex;
diff --git a/examples/SharedMemory/SharedMemoryUserData.h b/examples/SharedMemory/SharedMemoryUserData.h
index a29f59eb0..aabc48bff 100644
--- a/examples/SharedMemory/SharedMemoryUserData.h
+++ b/examples/SharedMemory/SharedMemoryUserData.h
@@ -3,6 +3,7 @@
 
 #include <string>
 #include "LinearMath/btAlignedObjectArray.h"
+#include "LinearMath/btHashMap.h"
 #include "SharedMemoryPublic.h"
 
 struct SharedMemoryUserData 
@@ -10,20 +11,22 @@ struct SharedMemoryUserData
 	std::string m_key;
 	int m_type;
 
+	int m_bodyUniqueId;
+	int m_linkIndex;
+	int m_visualShapeIndex;
+
 	btAlignedObjectArray<char> m_bytes;
 	
 	SharedMemoryUserData()
-		:m_type(-1)
+		:m_type(-1), m_bodyUniqueId(-1), m_linkIndex(-1), m_visualShapeIndex(-1)
 	{
 	}
 
-	// Takes ownership of the passed key and value arguments.
-	SharedMemoryUserData(const char* key)
-	:m_key(key)
+	SharedMemoryUserData(const char* key, int bodyUniqueId, int linkIndex, int visualShapeIndex)
+	:m_key(key), m_type(-1), m_bodyUniqueId(bodyUniqueId), m_linkIndex(linkIndex), m_visualShapeIndex(visualShapeIndex)
 	{
 	}
 
-	// Takes ownership of the data pointed to by newValue.
 	void replaceValue(const char* bytes, int len, int type)
 	{
 		m_type = type;
@@ -45,4 +48,43 @@ struct SharedMemoryUserData
 	}
 };
 
+struct SharedMemoryUserDataHashKey {
+	unsigned int m_hash;
+
+	btHashString m_key;
+	btHashInt m_bodyUniqueId;
+	btHashInt m_linkIndex;
+	btHashInt m_visualShapeIndex;
+
+	SIMD_FORCE_INLINE	unsigned int getHash()const {
+		return m_hash;
+	}
+
+	SharedMemoryUserDataHashKey() : m_hash(0) {}
+
+	SharedMemoryUserDataHashKey(const struct SharedMemoryUserData *userData) 
+	    : m_key(userData->m_key.c_str()),
+		  m_bodyUniqueId(userData->m_bodyUniqueId),
+		  m_linkIndex(userData->m_linkIndex),
+		  m_visualShapeIndex(userData->m_visualShapeIndex) {
+		calculateHash();
+	}
+
+	SharedMemoryUserDataHashKey(const char *key, int bodyUniqueId, int linkIndex, int visualShapeIndex)
+		: m_key(key), m_bodyUniqueId(bodyUniqueId), m_linkIndex(linkIndex), m_visualShapeIndex(visualShapeIndex) {
+		calculateHash();
+	}
+
+	void calculateHash() {
+		m_hash = m_key.getHash() ^ m_bodyUniqueId.getHash() ^ m_linkIndex.getHash() ^ m_visualShapeIndex.getHash();
+	}
+
+	bool equals(const SharedMemoryUserDataHashKey& other) const {
+		return m_bodyUniqueId.equals(other.m_bodyUniqueId) &&
+			m_linkIndex.equals(other.m_linkIndex) &&
+			m_visualShapeIndex.equals(other.m_visualShapeIndex) && 
+			m_key.equals(other.m_key);
+	}
+};
+
 #endif //SHARED_MEMORY_USER_DATA_H
diff --git a/examples/pybullet/examples/userData.py b/examples/pybullet/examples/userData.py
index 17080a4e5..164c470b5 100644
--- a/examples/pybullet/examples/userData.py
+++ b/examples/pybullet/examples/userData.py
@@ -21,16 +21,16 @@ plane_id = client.loadURDF(PLANE_PATH)
 print ("Plane ID: %s" % plane_id)
 
 print ("Adding user data to plane")
-MyKey1 = client.addUserData(plane_id, 0, "MyKey1", "MyValue1")
-MyKey2 = client.addUserData(plane_id, 0, "MyKey2", "MyValue2")
-MyKey3 = client.addUserData(plane_id, 0, "MyKey3", "MyValue3")
-MyKey4 = client.addUserData(plane_id, 0, "MyKey4", "MyValue4")
+MyKey1 = client.addUserData(plane_id, "MyKey1", "MyValue1")
+MyKey2 = client.addUserData(plane_id, "MyKey2", "MyValue2")
+MyKey3 = client.addUserData(plane_id, "MyKey3", "MyValue3")
+MyKey4 = client.addUserData(plane_id, "MyKey4", "MyValue4")
 
 print ("Retrieving cached user data")
-print (client.getUserData(plane_id, 0, MyKey1))
-print (client.getUserData(plane_id, 0, MyKey2))
-print (client.getUserData(plane_id, 0, MyKey3))
-print (client.getUserData(plane_id, 0, MyKey4))
+print (client.getUserData(MyKey1))
+print (client.getUserData(MyKey2))
+print (client.getUserData(MyKey3))
+print (client.getUserData(MyKey4))
 
 print ("Disconnecting")
 del client
@@ -39,18 +39,18 @@ print ("Reconnecting")
 client = bullet_client.BulletClient(connection_mode=CONNECTION_METHOD)
 
 print ("Retrieving synced user data")
-print (client.getUserData(plane_id, 0, MyKey1))
-print (client.getUserData(plane_id, 0, MyKey2))
-print (client.getUserData(plane_id, 0, MyKey3))
-print (client.getUserData(plane_id, 0, MyKey4))
+print (client.getUserData(MyKey1))
+print (client.getUserData(MyKey2))
+print (client.getUserData(MyKey3))
+print (client.getUserData(MyKey4))
 
-print ("Number of user data entries: %s" % client.getNumUserData(plane_id, 0))
+print ("Number of user data entries: %s" % client.getNumUserData(plane_id))
 
 print ("Overriding user data")
-client.addUserData(plane_id, 0, "MyKey1", "MyNewValue")
+client.addUserData(plane_id, "MyKey1", "MyNewValue")
 
 print ("Cached overridden data")
-print (client.getUserData(plane_id, 0, MyKey1))
+print (client.getUserData(MyKey1))
 
 
 print ("Disconnecting")
@@ -61,50 +61,50 @@ client = bullet_client.BulletClient(connection_mode=CONNECTION_METHOD)
 
 
 print ("Synced overridden data")
-print (client.getUserData(plane_id, 0, MyKey1))
+print (client.getUserData(MyKey1))
 
 print ("Getting user data ID")
-print ("Retrieved ID: %s, ID retrieved from addUserData: %s"  % (client.getUserDataId(plane_id, 0, "MyKey2"), MyKey2))
+print ("Retrieved ID: %s, ID retrieved from addUserData: %s"  % (client.getUserDataId(plane_id, "MyKey2"), MyKey2))
 
 print ("Removing user data")
-client.removeUserData(plane_id, 0, MyKey2)
+client.removeUserData(MyKey2)
 
 print ("Retrieving cached removed data")
-print (client.getUserData(plane_id, 0, MyKey2))
+print (client.getUserData(MyKey2))
 
 print ("Syncing")
 client.syncUserData()
 
 print ("Retrieving removed removed data")
-print (client.getUserData(plane_id, 0, MyKey2))
+print (client.getUserData(MyKey2))
 
 print ("Iterating over all user data entries and printing results")
-for i in range(client.getNumUserData(plane_id, 0)):
-  userDataId, key = client.getUserDataInfo(plane_id, 0, i)
-  print ("Info: (%s, %s)" % (userDataId, key))
-  print ("Value: %s" % client.getUserData(plane_id, 0, userDataId))
+for i in range(client.getNumUserData(plane_id)):
+  userDataId, key, bodyId, linkIndex, visualShapeIndex = client.getUserDataInfo(plane_id, i)
+  print ("Info: (%s, %s, %s, %s, %s)" % (userDataId, key, bodyId, linkIndex, visualShapeIndex))
+  print ("Value: %s" % client.getUserData(userDataId))
 
 print ("Removing body")
 client.removeBody(plane_id)
 
 print ("Retrieving user data")
-print (client.getUserData(plane_id, 0, MyKey1))
-print (client.getUserData(plane_id, 0, MyKey3))
-print (client.getUserData(plane_id, 0, MyKey4))
+print (client.getUserData(MyKey1))
+print (client.getUserData(MyKey3))
+print (client.getUserData(MyKey4))
 
 print ("Syncing")
 client.syncUserData()
 
 print ("Retrieving user data")
-print (client.getUserData(plane_id, 0, MyKey1))
-print (client.getUserData(plane_id, 0, MyKey3))
-print (client.getUserData(plane_id, 0, MyKey4))
+print (client.getUserData(MyKey1))
+print (client.getUserData(MyKey3))
+print (client.getUserData(MyKey4))
 
 plane_id2 = client.loadURDF(PLANE_PATH)
 print ("Plane1: %s, plane2: %s" % (plane_id, plane_id2))
 
 print ("Retrieving user data")
-print (client.getUserData(plane_id, 0, MyKey1))
-print (client.getUserData(plane_id, 0, MyKey3))
-print (client.getUserData(plane_id, 0, MyKey4))
+print (client.getUserData(MyKey1))
+print (client.getUserData(MyKey3))
+print (client.getUserData(MyKey4))
 
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 5d5ceb79f..836f06312 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -713,18 +713,19 @@ static PyObject* pybullet_addUserData(PyObject* self, PyObject* args, PyObject*
 	b3PhysicsClientHandle sm = 0;
 	int physicsClientId = 0;
 	int bodyUniqueId = -1;
-	int linkIndex = -2;
+	int linkIndex = -1;
+	int visualShapeIndex = -1;
 	const char* key = "";
 	const char* value = ""; // TODO: Change this to a PyObject and detect the type dynamically.
 
-	static char* kwlist[] = {"bodyUniqueId", "linkIndex", "key", "value", "physicsClientId", NULL};
+	static char* kwlist[] = {"bodyUniqueId", "key", "value", "linkIndex", "visualShapeIndex", "physicsClientId", NULL};
 	b3SharedMemoryCommandHandle command;
 	b3SharedMemoryStatusHandle statusHandle;
 	int statusType;
 	int userDataId;
 	int valueLen=-1;
 
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "iiss|i", kwlist, &bodyUniqueId, &linkIndex, &key, &value, &physicsClientId))
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "iss|iii", kwlist, &bodyUniqueId, &key, &value, &linkIndex, &visualShapeIndex, &physicsClientId))
 	{
 		return NULL;
 	}
@@ -736,7 +737,7 @@ static PyObject* pybullet_addUserData(PyObject* self, PyObject* args, PyObject*
 	}
 
 	valueLen = strlen(value)+1;
-	command = b3InitAddUserDataCommand(sm, bodyUniqueId, linkIndex, key, USER_DATA_VALUE_TYPE_STRING, valueLen, value);
+	command = b3InitAddUserDataCommand(sm, bodyUniqueId, linkIndex, visualShapeIndex, key, USER_DATA_VALUE_TYPE_STRING, valueLen, value);
 	statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
 	statusType = b3GetStatusType(statusHandle);
 
@@ -754,16 +755,14 @@ static PyObject* pybullet_removeUserData(PyObject* self, PyObject* args, PyObjec
 {
 	b3PhysicsClientHandle sm = 0;
 	int physicsClientId = 0;
-	int bodyUniqueId = -1;
-	int linkIndex = -1;
 	int userDataId = -1;
 
-	static char* kwlist[] = {"bodyUniqueId", "linkIndex", "userDataId",  "physicsClientId", NULL};
+	static char* kwlist[] = {"userDataId",  "physicsClientId", NULL};
 	b3SharedMemoryCommandHandle command;
 	b3SharedMemoryStatusHandle statusHandle;
 	int statusType;
 
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "iii|i", kwlist, &bodyUniqueId, &linkIndex, &userDataId, &physicsClientId))
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|i", kwlist, &userDataId, &physicsClientId))
 	{
 		return NULL;
 	}
@@ -774,7 +773,7 @@ static PyObject* pybullet_removeUserData(PyObject* self, PyObject* args, PyObjec
 		return NULL;
 	}
 
-	command = b3InitRemoveUserDataCommand(sm, bodyUniqueId, linkIndex, userDataId);
+	command = b3InitRemoveUserDataCommand(sm, userDataId);
 	statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
 	statusType = b3GetStatusType(statusHandle);
 
@@ -794,15 +793,16 @@ static PyObject* pybullet_getUserDataId(PyObject* self, PyObject* args, PyObject
 	int physicsClientId = 0;
 	int bodyUniqueId = -1;
 	int linkIndex = -1;
+	int visualShapeIndex = -1;
 	const char* key = "";
 	int userDataId;
 
 	
 
 
-	static char* kwlist[] = {"bodyUniqueId", "linkIndex", "key",  "physicsClientId", NULL};
+	static char* kwlist[] = {"bodyUniqueId", "key", "linkIndex", "visualShapeIndex", "physicsClientId", NULL};
 	
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "iis|i", kwlist, &bodyUniqueId, &linkIndex, &key, &physicsClientId))
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "is|iii", kwlist, &bodyUniqueId, &key, &linkIndex, &visualShapeIndex, &physicsClientId))
 	{
 		return NULL;
 	}
@@ -813,7 +813,7 @@ static PyObject* pybullet_getUserDataId(PyObject* self, PyObject* args, PyObject
 		return NULL;
 	}
 
-	userDataId = b3GetUserDataId(sm, bodyUniqueId, linkIndex, key);
+	userDataId = b3GetUserDataId(sm, bodyUniqueId, linkIndex, visualShapeIndex, key);
 	return PyInt_FromLong(userDataId);
 }
 
@@ -821,16 +821,14 @@ static PyObject* pybullet_getUserData(PyObject* self, PyObject* args, PyObject*
 {
 	b3PhysicsClientHandle sm = 0;
 	int physicsClientId = 0;
-	int bodyUniqueId = -1;
-	int linkIndex = -1;
 	int userDataId = -1;
 
-	static char* kwlist[] = {"bodyUniqueId", "linkIndex", "userDataId",  "physicsClientId", NULL};
+	static char* kwlist[] = {"userDataId",  "physicsClientId", NULL};
 
 
 
 	struct b3UserDataValue value;
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "iii|i", kwlist, &bodyUniqueId, &linkIndex, &userDataId, &physicsClientId))
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|i", kwlist, &userDataId, &physicsClientId))
 	{
 		return NULL;
 	}
@@ -842,7 +840,7 @@ static PyObject* pybullet_getUserData(PyObject* self, PyObject* args, PyObject*
 	}
 
 
-	if (!b3GetUserData(sm, bodyUniqueId, linkIndex, userDataId, &value)) {
+	if (!b3GetUserData(sm, userDataId, &value)) {
 		
 		Py_INCREF(Py_None);
 		return Py_None;
@@ -861,15 +859,14 @@ static PyObject* pybullet_getNumUserData(PyObject* self, PyObject* args, PyObjec
 	b3PhysicsClientHandle sm = 0;
 	int physicsClientId = 0;
 	int bodyUniqueId = -1;
-	int linkIndex = -1;
 
-	static char* kwlist[] = {"bodyUniqueId", "linkIndex",  "physicsClientId", NULL};
+	static char* kwlist[] = {"bodyUniqueId",  "physicsClientId", NULL};
 
 
 
 	int numUserData;
 
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|i", kwlist, &bodyUniqueId, &linkIndex, &physicsClientId))
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|i", kwlist, &bodyUniqueId, &physicsClientId))
 	{
 		return NULL;
 	}
@@ -880,7 +877,7 @@ static PyObject* pybullet_getNumUserData(PyObject* self, PyObject* args, PyObjec
 		return NULL;
 	}
 
-	numUserData = b3GetNumUserData(sm, bodyUniqueId, linkIndex);
+	numUserData = b3GetNumUserData(sm, bodyUniqueId);
 	return PyInt_FromLong(numUserData);
 }
 
@@ -889,16 +886,17 @@ static PyObject* pybullet_getUserDataInfo(PyObject* self, PyObject* args, PyObje
 	b3PhysicsClientHandle sm = 0;
 	int physicsClientId = 0;
 	int bodyUniqueId = -1;
-	int linkIndex = -1;
 	int userDataIndex = -1;
+	int linkIndex = -1;
+	int visualShapeIndex = -1;
 
-	static char* kwlist[] = {"bodyUniqueId", "linkIndex", "userDataIndex", "physicsClientId", NULL};
+	static char* kwlist[] = {"bodyUniqueId", "userDataIndex", "physicsClientId", NULL};
 
 
 	const char* key = 0;
 	int userDataId = -1;
 
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "iii|i", kwlist, &bodyUniqueId, &linkIndex, &userDataIndex, &physicsClientId))
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|i", kwlist, &bodyUniqueId, &userDataIndex, &physicsClientId))
 	{
 		return NULL;
 	}
@@ -909,16 +907,19 @@ static PyObject* pybullet_getUserDataInfo(PyObject* self, PyObject* args, PyObje
 		return NULL;
 	}
 
-	b3GetUserDataInfo(sm, bodyUniqueId, linkIndex, userDataIndex, &key, &userDataId);
+	b3GetUserDataInfo(sm, bodyUniqueId, userDataIndex, &key, &userDataId, &linkIndex, &visualShapeIndex);
 	if (key == 0 || userDataId == -1) {
 		PyErr_SetString(SpamError, "Could not get user data info.");
 		return NULL;
 	}
 
 	{
-		PyObject *userDataInfoTuple = PyTuple_New(2);
+		PyObject *userDataInfoTuple = PyTuple_New(5);
 		PyTuple_SetItem(userDataInfoTuple, 0, PyInt_FromLong(userDataId));
 		PyTuple_SetItem(userDataInfoTuple, 1, PyString_FromString(key));
+		PyTuple_SetItem(userDataInfoTuple, 2, PyInt_FromLong(bodyUniqueId));
+		PyTuple_SetItem(userDataInfoTuple, 3, PyInt_FromLong(linkIndex));
+		PyTuple_SetItem(userDataInfoTuple, 4, PyInt_FromLong(visualShapeIndex));
 		return userDataInfoTuple;
 	}
 }
@@ -9164,28 +9165,28 @@ static PyMethodDef SpamMethods[] = {
 	 "Update user data, in case other clients made changes."},
 
 	{"addUserData", (PyCFunction)pybullet_addUserData, METH_VARARGS | METH_KEYWORDS,
-	 "addUserData(bodyUniqueId, linkIndex, key, value, physicsClientId=0)\n"
-	 "Adds or updates a user data entry to a link. Returns user data identifier."},
+	 "addUserData(bodyUniqueId, key, value, linkIndex=-1, visualShapeIndex=-1, physicsClientId=0)\n"
+	 "Adds or updates a user data entry. Returns user data identifier."},
 
 	{"getUserData", (PyCFunction)pybullet_getUserData, METH_VARARGS | METH_KEYWORDS,
-	 "getUserData(bodyUniqueId, linkIndex, userDataId, physicsClientId=0)\n"
+	 "getUserData(userDataId, physicsClientId=0)\n"
 	 "Returns the user data value."},
 
 	{"removeUserData", (PyCFunction)pybullet_removeUserData, METH_VARARGS | METH_KEYWORDS,
-	 "removeUserData(bodyUniqueId, linkIndex, userDataId, physicsClientId=0)\n"
+	 "removeUserData(userDataId, physicsClientId=0)\n"
 	 "Removes a user data entry."},
 
 	{"getUserDataId", (PyCFunction)pybullet_getUserDataId, METH_VARARGS | METH_KEYWORDS,
-	 "getUserDataId(bodyUniqueId, linkIndex, key, physicsClientId=0)\n"
-	 "Retrieves the userDataId on a link given the key."},
+	 "getUserDataId(bodyUniqueId, key, linkIndex=-1, visualShapeIndex=-1, physicsClientId=0)\n"
+	 "Retrieves the userDataId given the key and optionally link and visual shape index."},
 
 	{"getNumUserData", (PyCFunction)pybullet_getNumUserData, METH_VARARGS | METH_KEYWORDS,
-	 "getNumUserData(bodyUniqueId, linkIndex, physicsClientId=0)\n"
-	 "Retrieves the number of user data entries in a link."},
+	 "getNumUserData(bodyUniqueId physicsClientId=0)\n"
+	 "Retrieves the number of user data entries in a body."},
 
 	{"getUserDataInfo", (PyCFunction)pybullet_getUserDataInfo, METH_VARARGS | METH_KEYWORDS,
-	 "getUserDataInfo(bodyUniqueId, linkIndex, userDataIndex, physicsClientId=0)\n"
-	 "Retrieves the key and the identifier of a user data as (id, key)."},
+	 "getUserDataInfo(bodyUniqueId, userDataIndex, physicsClientId=0)\n"
+	 "Retrieves the key and the identifier of a user data as (userDataId, key, bodyUniqueId, linkIndex, visualShapeIndex)."},
 
 	{"removeBody", (PyCFunction)pybullet_removeBody, METH_VARARGS | METH_KEYWORDS,
 	 "Remove a body by its body unique id."},
diff --git a/examples/pybullet/unittests/userDataTest.py b/examples/pybullet/unittests/userDataTest.py
index 2b3db2cb4..e16b56958 100644
--- a/examples/pybullet/unittests/userDataTest.py
+++ b/examples/pybullet/unittests/userDataTest.py
@@ -26,169 +26,170 @@ class TestUserDataMethods(unittest.TestCase):
 
 	def testAddUserData(self):
 		plane_id = self.client.loadURDF(PLANE_PATH)
-		uid1 = self.client.addUserData(plane_id, 0, "MyKey1", "MyValue1")
-		uid2 = self.client.addUserData(plane_id, 0, "MyKey2", "MyValue2")
-		uid3 = self.client.addUserData(plane_id, 0, "MyKey3", "MyValue3")
-		uid4 = self.client.addUserData(plane_id, 0, "MyKey4", "MyValue4")
+		uid1 = self.client.addUserData(plane_id, "MyKey1", "MyValue1")
+		uid2 = self.client.addUserData(plane_id, "MyKey2", "MyValue2")
+		uid3 = self.client.addUserData(plane_id, "MyKey3", "MyValue3")
+		uid4 = self.client.addUserData(plane_id, "MyKey4", "MyValue4")
 
 		# Retrieve user data and make sure it's correct.
-		self.assertEqual(b"MyValue1", self.client.getUserData(plane_id, 0, uid1))
-		self.assertEqual(b"MyValue2", self.client.getUserData(plane_id, 0, uid2))
-		self.assertEqual(b"MyValue3", self.client.getUserData(plane_id, 0, uid3))
-		self.assertEqual(b"MyValue4", self.client.getUserData(plane_id, 0, uid4))
+		self.assertEqual(b"MyValue1", self.client.getUserData(uid1))
+		self.assertEqual(b"MyValue2", self.client.getUserData(uid2))
+		self.assertEqual(b"MyValue3", self.client.getUserData(uid3))
+		self.assertEqual(b"MyValue4", self.client.getUserData(uid4))
 
 		# Disconnect/reconnect and make sure that the user data is synced back.
 		del self.client
 		self.client = bullet_client.BulletClient(pybullet.SHARED_MEMORY)
 
-		self.assertEqual(b"MyValue1", self.client.getUserData(plane_id, 0, uid1))
-		self.assertEqual(b"MyValue2", self.client.getUserData(plane_id, 0, uid2))
-		self.assertEqual(b"MyValue3", self.client.getUserData(plane_id, 0, uid3))
-		self.assertEqual(b"MyValue4", self.client.getUserData(plane_id, 0, uid4))
+		self.assertEqual(b"MyValue1", self.client.getUserData(uid1))
+		self.assertEqual(b"MyValue2", self.client.getUserData(uid2))
+		self.assertEqual(b"MyValue3", self.client.getUserData(uid3))
+		self.assertEqual(b"MyValue4", self.client.getUserData(uid4))
 
 		self.client.resetSimulation()
-		self.assertEqual(None, self.client.getUserData(plane_id, 0, uid1))
-		self.assertEqual(None, self.client.getUserData(plane_id, 0, uid2))
-		self.assertEqual(None, self.client.getUserData(plane_id, 0, uid3))
-		self.assertEqual(None, self.client.getUserData(plane_id, 0, uid4))
+		self.assertEqual(None, self.client.getUserData(uid1))
+		self.assertEqual(None, self.client.getUserData(uid2))
+		self.assertEqual(None, self.client.getUserData(uid3))
+		self.assertEqual(None, self.client.getUserData(uid4))
 
 
 	def testGetNumUserData(self):
 		plane_id = self.client.loadURDF(PLANE_PATH)
-		uid1 = self.client.addUserData(plane_id, 0, "MyKey1", "MyValue1")
-		uid2 = self.client.addUserData(plane_id, 0, "MyKey2", "MyValue2")
-		uid3 = self.client.addUserData(plane_id, 0, "MyKey3", "MyValue3")
-		uid4 = self.client.addUserData(plane_id, 0, "MyKey4", "MyValue4")
+		uid1 = self.client.addUserData(plane_id, "MyKey1", "MyValue1")
+		uid2 = self.client.addUserData(plane_id, "MyKey2", "MyValue2")
+		uid3 = self.client.addUserData(plane_id, "MyKey3", "MyValue3")
+		uid4 = self.client.addUserData(plane_id, "MyKey4", "MyValue4")
 
-		self.assertEqual(4, self.client.getNumUserData(plane_id, 0))
+		self.assertEqual(4, self.client.getNumUserData(plane_id))
 		
 		del self.client
 		self.client = bullet_client.BulletClient(pybullet.SHARED_MEMORY)
 
-		self.assertEqual(4, self.client.getNumUserData(plane_id, 0))
+		self.assertEqual(4, self.client.getNumUserData(plane_id))
 
 
 	def testReplaceUserData(self):
 		plane_id = self.client.loadURDF(PLANE_PATH)
-		uid = self.client.addUserData(plane_id, 0, "MyKey", "MyValue")
+		uid = self.client.addUserData(plane_id, "MyKey", "MyValue")
 
-		self.assertEqual(b"MyValue", self.client.getUserData(plane_id, 0, uid))
+		self.assertEqual(b"MyValue", self.client.getUserData(uid))
 		
-		new_uid = self.client.addUserData(plane_id, 0, "MyKey", "MyNewValue")
+		new_uid = self.client.addUserData(plane_id, "MyKey", "MyNewValue")
 		self.assertEqual(uid, new_uid)
-		self.assertEqual(b"MyNewValue", self.client.getUserData(plane_id, 0, uid))
+		self.assertEqual(b"MyNewValue", self.client.getUserData(uid))
 
 		del self.client
 		self.client = bullet_client.BulletClient(pybullet.SHARED_MEMORY)
 
-		self.assertEqual(b"MyNewValue", self.client.getUserData(plane_id, 0, uid))
+		self.assertEqual(b"MyNewValue", self.client.getUserData(uid))
 
 	def testGetUserDataId(self):
 		plane_id = self.client.loadURDF(PLANE_PATH)
-		uid1 = self.client.addUserData(plane_id, 0, "MyKey1", "MyValue1")
-		uid2 = self.client.addUserData(plane_id, 0, "MyKey2", "MyValue2")
-		uid3 = self.client.addUserData(plane_id, 0, "MyKey3", "MyValue3")
-		uid4 = self.client.addUserData(plane_id, 0, "MyKey4", "MyValue4")
+		uid1 = self.client.addUserData(plane_id, "MyKey1", "MyValue1")
+		uid2 = self.client.addUserData(plane_id, "MyKey2", "MyValue2")
+		uid3 = self.client.addUserData(plane_id, "MyKey3", "MyValue3")
+		uid4 = self.client.addUserData(plane_id, "MyKey4", "MyValue4")
 
-		self.assertEqual(uid1, self.client.getUserDataId(plane_id, 0, "MyKey1"))
-		self.assertEqual(uid2, self.client.getUserDataId(plane_id, 0, "MyKey2"))
-		self.assertEqual(uid3, self.client.getUserDataId(plane_id, 0, "MyKey3"))
-		self.assertEqual(uid4, self.client.getUserDataId(plane_id, 0, "MyKey4"))
+		self.assertEqual(uid1, self.client.getUserDataId(plane_id, "MyKey1"))
+		self.assertEqual(uid2, self.client.getUserDataId(plane_id, "MyKey2"))
+		self.assertEqual(uid3, self.client.getUserDataId(plane_id, "MyKey3"))
+		self.assertEqual(uid4, self.client.getUserDataId(plane_id, "MyKey4"))
 
 		del self.client
 		self.client = bullet_client.BulletClient(pybullet.SHARED_MEMORY)
 
-		self.assertEqual(uid1, self.client.getUserDataId(plane_id, 0, "MyKey1"))
-		self.assertEqual(uid2, self.client.getUserDataId(plane_id, 0, "MyKey2"))
-		self.assertEqual(uid3, self.client.getUserDataId(plane_id, 0, "MyKey3"))
-		self.assertEqual(uid4, self.client.getUserDataId(plane_id, 0, "MyKey4"))
+		self.assertEqual(uid1, self.client.getUserDataId(plane_id, "MyKey1"))
+		self.assertEqual(uid2, self.client.getUserDataId(plane_id, "MyKey2"))
+		self.assertEqual(uid3, self.client.getUserDataId(plane_id, "MyKey3"))
+		self.assertEqual(uid4, self.client.getUserDataId(plane_id, "MyKey4"))
 
 
 	def testRemoveUserData(self):
 		plane_id = self.client.loadURDF(PLANE_PATH)
-		uid1 = self.client.addUserData(plane_id, 0, "MyKey1", "MyValue1")
-		uid2 = self.client.addUserData(plane_id, 0, "MyKey2", "MyValue2")
-		uid3 = self.client.addUserData(plane_id, 0, "MyKey3", "MyValue3")
-		uid4 = self.client.addUserData(plane_id, 0, "MyKey4", "MyValue4")
+		uid1 = self.client.addUserData(plane_id, "MyKey1", "MyValue1")
+		uid2 = self.client.addUserData(plane_id, "MyKey2", "MyValue2")
+		uid3 = self.client.addUserData(plane_id, "MyKey3", "MyValue3")
+		uid4 = self.client.addUserData(plane_id, "MyKey4", "MyValue4")
 
-		self.client.removeUserData(plane_id, 0, uid2)
+		self.client.removeUserData(uid2)
 
-		self.assertEqual(3, self.client.getNumUserData(plane_id, 0))
-		self.assertEqual(-1, self.client.getUserDataId(plane_id, 0, "MyKey2"))
-		self.assertEqual(None, self.client.getUserData(plane_id, 0, uid2))
-		self.assertEqual(b"MyValue1", self.client.getUserData(plane_id, 0, uid1))
-		self.assertEqual(b"MyValue3", self.client.getUserData(plane_id, 0, uid3))
-		self.assertEqual(b"MyValue4", self.client.getUserData(plane_id, 0, uid4))
+		self.assertEqual(3, self.client.getNumUserData(plane_id))
+		self.assertEqual(-1, self.client.getUserDataId(plane_id, "MyKey2"))
+		self.assertEqual(None, self.client.getUserData(uid2))
+		self.assertEqual(b"MyValue1", self.client.getUserData(uid1))
+		self.assertEqual(b"MyValue3", self.client.getUserData(uid3))
+		self.assertEqual(b"MyValue4", self.client.getUserData(uid4))
 
 		del self.client
 		self.client = bullet_client.BulletClient(pybullet.SHARED_MEMORY)
 
-		self.assertEqual(3, self.client.getNumUserData(plane_id, 0))
-		self.assertEqual(-1, self.client.getUserDataId(plane_id, 0, "MyKey2"))
-		self.assertEqual(None, self.client.getUserData(plane_id, 0, uid2))
-		self.assertEqual(b"MyValue1", self.client.getUserData(plane_id, 0, uid1))
-		self.assertEqual(b"MyValue3", self.client.getUserData(plane_id, 0, uid3))
-		self.assertEqual(b"MyValue4", self.client.getUserData(plane_id, 0, uid4))
+		self.assertEqual(3, self.client.getNumUserData(plane_id))
+		self.assertEqual(-1, self.client.getUserDataId(plane_id, "MyKey2"))
+		self.assertEqual(None, self.client.getUserData(uid2))
+		self.assertEqual(b"MyValue1", self.client.getUserData(uid1))
+		self.assertEqual(b"MyValue3", self.client.getUserData(uid3))
+		self.assertEqual(b"MyValue4", self.client.getUserData(uid4))
 
 
 	def testIterateAllUserData(self):
 		plane_id = self.client.loadURDF(PLANE_PATH)
-		uid1 = self.client.addUserData(plane_id, 0, "MyKey1", "MyValue1")
-		uid2 = self.client.addUserData(plane_id, 0, "MyKey2", "MyValue2")
-		uid3 = self.client.addUserData(plane_id, 0, "MyKey3", "MyValue3")
-		uid4 = self.client.addUserData(plane_id, 0, "MyKey4", "MyValue4")
+		uid1 = self.client.addUserData(plane_id, "MyKey1", "MyValue1")
+		uid2 = self.client.addUserData(plane_id, "MyKey2", "MyValue2")
+		uid3 = self.client.addUserData(plane_id, "MyKey3", "MyValue3")
+		uid4 = self.client.addUserData(plane_id, "MyKey4", "MyValue4")
 
 		entries = set()
-		for i in range(self.client.getNumUserData(plane_id, 0)):
-			userDataId, key = self.client.getUserDataInfo(plane_id, 0, i)
-			value = self.client.getUserData(plane_id, 0, userDataId);
-			entries.add((userDataId, key, value))
+		for i in range(self.client.getNumUserData(plane_id)):
+			userDataId, key, bodyId, linkIndex, visualShapeIndex = self.client.getUserDataInfo(plane_id, i)
+			value = self.client.getUserData(userDataId);
+			entries.add((userDataId, key, value, bodyId, linkIndex, visualShapeIndex))
 
-		self.assertTrue((uid1, b"MyKey1", b"MyValue1") in entries)
-		self.assertTrue((uid2, b"MyKey2", b"MyValue2") in entries)
-		self.assertTrue((uid3, b"MyKey3", b"MyValue3") in entries)
-		self.assertTrue((uid4, b"MyKey4", b"MyValue4") in entries)
+		self.assertTrue((uid1, b"MyKey1", b"MyValue1", plane_id, -1, -1) in entries)
+		self.assertTrue((uid2, b"MyKey2", b"MyValue2", plane_id, -1, -1) in entries)
+		self.assertTrue((uid3, b"MyKey3", b"MyValue3", plane_id, -1, -1) in entries)
+		self.assertTrue((uid4, b"MyKey4", b"MyValue4", plane_id, -1, -1) in entries)
 		self.assertEqual(4, len(entries))
 
 
 	def testRemoveBody(self):
 		plane_id = self.client.loadURDF(PLANE_PATH)
-		uid1 = self.client.addUserData(plane_id, 0, "MyKey1", "MyValue1")
-		uid2 = self.client.addUserData(plane_id, 0, "MyKey2", "MyValue2")
-		uid3 = self.client.addUserData(plane_id, 0, "MyKey3", "MyValue3")
-		uid4 = self.client.addUserData(plane_id, 0, "MyKey4", "MyValue4")
+		uid1 = self.client.addUserData(plane_id, "MyKey1", "MyValue1")
+		uid2 = self.client.addUserData(plane_id, "MyKey2", "MyValue2")
+		uid3 = self.client.addUserData(plane_id, "MyKey3", "MyValue3")
+		uid4 = self.client.addUserData(plane_id, "MyKey4", "MyValue4")
 
 		self.client.removeBody(plane_id)
-		self.assertEqual(None, self.client.getUserData(plane_id, 0, uid1))
-		self.assertEqual(None, self.client.getUserData(plane_id, 0, uid2))
-		self.assertEqual(None, self.client.getUserData(plane_id, 0, uid3))
-		self.assertEqual(None, self.client.getUserData(plane_id, 0, uid4))
+		self.assertEqual(None, self.client.getUserData(uid1))
+		self.assertEqual(None, self.client.getUserData(uid2))
+		self.assertEqual(None, self.client.getUserData(uid3))
+		self.assertEqual(None, self.client.getUserData(uid4))
 
 		del self.client
 		self.client = bullet_client.BulletClient(pybullet.SHARED_MEMORY)
 
-		self.assertEqual(None, self.client.getUserData(plane_id, 0, uid1))
-		self.assertEqual(None, self.client.getUserData(plane_id, 0, uid2))
-		self.assertEqual(None, self.client.getUserData(plane_id, 0, uid3))
-		self.assertEqual(None, self.client.getUserData(plane_id, 0, uid4))
+		self.assertEqual(None, self.client.getUserData(uid1))
+		self.assertEqual(None, self.client.getUserData(uid2))
+		self.assertEqual(None, self.client.getUserData(uid3))
+		self.assertEqual(None, self.client.getUserData(uid4))
+
 
 	def testMultipleBodies(self):
 		plane1 = self.client.loadURDF(PLANE_PATH)
 		plane2 = self.client.loadURDF(PLANE_PATH)
 		
-		uid1 = self.client.addUserData(plane1, 0, "MyKey1", "This is plane 1 - 1")
-		uid2 = self.client.addUserData(plane1, 0, "MyKey2", "This is plane 1 - 2")
+		uid1 = self.client.addUserData(plane1, "MyKey1", "This is plane 1 - 1")
+		uid2 = self.client.addUserData(plane1, "MyKey2", "This is plane 1 - 2")
 
-		uid3 = self.client.addUserData(plane2, 0, "MyKey1", "This is plane 2 - 1")
-		uid4 = self.client.addUserData(plane2, 0, "MyKey2", "This is plane 2 - 2")
-		uid5 = self.client.addUserData(plane2, 0, "MyKey3", "This is plane 2 - 3")
+		uid3 = self.client.addUserData(plane2, "MyKey1", "This is plane 2 - 1")
+		uid4 = self.client.addUserData(plane2, "MyKey2", "This is plane 2 - 2")
+		uid5 = self.client.addUserData(plane2, "MyKey3", "This is plane 2 - 3")
 
-		self.assertEqual(b"This is plane 1 - 1", self.client.getUserData(plane1, 0, self.client.getUserDataId(plane1, 0, "MyKey1")))
-		self.assertEqual(b"This is plane 1 - 2", self.client.getUserData(plane1, 0, self.client.getUserDataId(plane1, 0, "MyKey2")))
+		self.assertEqual(b"This is plane 1 - 1", self.client.getUserData(self.client.getUserDataId(plane1, "MyKey1")))
+		self.assertEqual(b"This is plane 1 - 2", self.client.getUserData(self.client.getUserDataId(plane1, "MyKey2")))
 
-		self.assertEqual(b"This is plane 2 - 1", self.client.getUserData(plane2, 0, self.client.getUserDataId(plane2, 0, "MyKey1")))
-		self.assertEqual(b"This is plane 2 - 2", self.client.getUserData(plane2, 0, self.client.getUserDataId(plane2, 0, "MyKey2")))
-		self.assertEqual(b"This is plane 2 - 3", self.client.getUserData(plane2, 0, self.client.getUserDataId(plane2, 0, "MyKey3")))
+		self.assertEqual(b"This is plane 2 - 1", self.client.getUserData(self.client.getUserDataId(plane2, "MyKey1")))
+		self.assertEqual(b"This is plane 2 - 2", self.client.getUserData(self.client.getUserDataId(plane2, "MyKey2")))
+		self.assertEqual(b"This is plane 2 - 3", self.client.getUserData(self.client.getUserDataId(plane2, "MyKey3")))
 
 
 	def testMultipleLinks(self):
@@ -198,14 +199,15 @@ class TestUserDataMethods(unittest.TestCase):
 		self.assertTrue(num_links > 1)
 
 		for link_index in range(num_links):
-			uid1 = self.client.addUserData(body_id, link_index, "MyKey1", "Value1 for link %s" % link_index)
-			uid2 = self.client.addUserData(body_id, link_index, "MyKey2", "Value2 for link %s" % link_index)
+			uid1 = self.client.addUserData(body_id, "MyKey1", "Value1 for link %s" % link_index, link_index)
+			uid2 = self.client.addUserData(body_id, "MyKey2", "Value2 for link %s" % link_index, link_index)
 
 		for link_index in range(num_links):
-			uid1 = self.client.getUserDataId(body_id, link_index, "MyKey1")
-			uid2 = self.client.getUserDataId(body_id, link_index, "MyKey2")
-			self.assertEqual(("Value1 for link %s" % link_index).encode(), self.client.getUserData(body_id, link_index, uid1))
-			self.assertEqual(("Value2 for link %s" % link_index).encode(), self.client.getUserData(body_id, link_index, uid2))
+			uid1 = self.client.getUserDataId(body_id, "MyKey1", link_index)
+			uid2 = self.client.getUserDataId(body_id, "MyKey2", link_index)
+			self.assertEqual(("Value1 for link %s" % link_index).encode(), self.client.getUserData(uid1))
+			self.assertEqual(("Value2 for link %s" % link_index).encode(), self.client.getUserData(uid2))
+
 
 	def testMultipleClients(self):
 		client1 = self.client
@@ -215,25 +217,48 @@ class TestUserDataMethods(unittest.TestCase):
 		client2.syncBodyInfo()
 
 		# Add user data on client 1, check on client 1
-		uid = client1.addUserData(plane_id, 0, "MyKey", "MyValue")
-		self.assertEqual(None, client2.getUserData(plane_id, 0, uid))
+		uid = client1.addUserData(plane_id, "MyKey", "MyValue")
+		self.assertEqual(None, client2.getUserData(uid))
 		client2.syncUserData()
-		self.assertEqual(b"MyValue", client2.getUserData(plane_id, 0, uid))
+		self.assertEqual(b"MyValue", client2.getUserData(uid))
 
 		# Overwrite the value on client 2, check on client 1
-		client2.addUserData(plane_id, 0, "MyKey", "MyNewValue")
-		self.assertEqual(b"MyValue", client1.getUserData(plane_id, 0, uid))
+		client2.addUserData(plane_id, "MyKey", "MyNewValue")
+		self.assertEqual(b"MyValue", client1.getUserData(uid))
 		client1.syncUserData()
-		self.assertEqual(b"MyNewValue", client1.getUserData(plane_id, 0, uid))
+		self.assertEqual(b"MyNewValue", client1.getUserData(uid))
 
 		# Remove user data on client 1, check on client 2
-		client1.removeUserData(plane_id, 0, uid)
-		self.assertEqual(b"MyNewValue", client2.getUserData(plane_id, 0, uid))
+		client1.removeUserData(uid)
+		self.assertEqual(b"MyNewValue", client2.getUserData(uid))
 		client2.syncUserData()
-		self.assertEqual(None, client2.getUserData(plane_id, 0, uid))
+		self.assertEqual(None, client2.getUserData(uid))
 
 		del client2
 
 
+	def testUserDataOnVisualShapes(self):
+		body_id = self.client.loadURDF(ROBOT_PATH)
+		num_links = self.client.getNumJoints(body_id)
+		visual_shapes = self.client.getVisualShapeData(body_id)
+
+		self.assertTrue(num_links > 0)
+		self.assertTrue(len(visual_shapes) > 0)
+
+		user_data_entries = set()
+		for link_index in range(-1, num_links):
+			num_shapes = sum([1 for shape in visual_shapes if shape[1] == link_index])
+			for shape_index in range(num_shapes):
+				key = "MyKey"
+				value = "MyValue %s, %s" % (link_index, shape_index)
+				uid = self.client.addUserData(body_id, key, value, link_index, shape_index)
+				user_data_entries.add((uid, key, value.encode(), body_id, link_index, shape_index))
+
+		self.assertEqual(len(visual_shapes), self.client.getNumUserData(body_id))
+		for uid, key, value, body_id, link_index, shape_index in user_data_entries:
+			self.assertEqual(value, self.client.getUserData(uid))
+			self.assertEqual(uid, self.client.getUserDataId(body_id, key, link_index, shape_index))
+
+
 if __name__ == "__main__":
     unittest.main()