diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.cpp b/examples/SharedMemory/PhysicsClientSharedMemory.cpp
index 050a9a257..20eaf0ad5 100644
--- a/examples/SharedMemory/PhysicsClientSharedMemory.cpp
+++ b/examples/SharedMemory/PhysicsClientSharedMemory.cpp
@@ -206,19 +206,6 @@ void PhysicsClientSharedMemory::removeCachedBody(int bodyUniqueId)
 	BodyJointInfoCache** bodyJointsPtr = m_data->m_bodyJointMap[bodyUniqueId];
 	if (bodyJointsPtr && *bodyJointsPtr)
 	{
-
-		BodyJointInfoCache* bodyJoints = *bodyJointsPtr;
-		for (int j=0;j<bodyJoints->m_jointInfo.size();j++) 
-		{
-			if (bodyJoints->m_jointInfo[j].m_jointName)
-			{
-				free(bodyJoints->m_jointInfo[j].m_jointName);
-			}
-			if (bodyJoints->m_jointInfo[j].m_linkName)
-			{
-				free(bodyJoints->m_jointInfo[j].m_linkName);
-			}
-		}
 		delete (*bodyJointsPtr);
 		m_data->m_bodyJointMap.remove(bodyUniqueId);
 	}
diff --git a/examples/SharedMemory/PhysicsDirect.cpp b/examples/SharedMemory/PhysicsDirect.cpp
index 94922ff0d..9ad84404e 100644
--- a/examples/SharedMemory/PhysicsDirect.cpp
+++ b/examples/SharedMemory/PhysicsDirect.cpp
@@ -1036,17 +1036,6 @@ void PhysicsDirect::removeCachedBody(int bodyUniqueId)
 	BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap[bodyUniqueId];
 	if (bodyJointsPtr && *bodyJointsPtr)
 	{
-		BodyJointInfoCache2* bodyJoints = *bodyJointsPtr;
-		for (int j=0;j<bodyJoints->m_jointInfo.size();j++) {
-			if (bodyJoints->m_jointInfo[j].m_jointName)
-			{
-				free(bodyJoints->m_jointInfo[j].m_jointName);
-			}
-			if (bodyJoints->m_jointInfo[j].m_linkName)
-			{
-				free(bodyJoints->m_jointInfo[j].m_linkName);
-			}
-		}
 		delete (*bodyJointsPtr);
 		m_data->m_bodyJointMap.remove(bodyUniqueId);
 	}
diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp
index 85da43d4e..290192139 100644
--- a/examples/SharedMemory/PhysicsServerExample.cpp
+++ b/examples/SharedMemory/PhysicsServerExample.cpp
@@ -1329,8 +1329,8 @@ public:
 
 	btVector3	getRayTo(int x,int y);
 
-	virtual void	vrControllerButtonCallback(int controllerId, int button, int state, float pos[4], float orientation[4]);
-	virtual void	vrControllerMoveCallback(int controllerId, float pos[4], float orientation[4], float analogAxis, float auxAnalogAxes[10]);
+	virtual void	vrControllerButtonCallback(int controllerId, int button, int state, float pos[4], float orn[4]);
+	virtual void	vrControllerMoveCallback(int controllerId, float pos[4], float orn[4], float analogAxis, float auxAnalogAxes[10]);
 	virtual void	vrHMDMoveCallback(int controllerId, float pos[4], float orientation[4]);
 	virtual void	vrGenericTrackerMoveCallback(int controllerId, float pos[4], float orientation[4]);
 
diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
index 795ba10bd..b72f9ce82 100644
--- a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
+++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
@@ -1097,45 +1097,31 @@ void TinyRendererVisualShapeConverter::resetAll()
 	m_data->m_visualShapes.clear();
 }
 
-void TinyRendererVisualShapeConverter::activateShapeTexture(int shapeUniqueId, int textureUniqueId)
-{
-    btAssert(textureUniqueId < m_data->m_textures.size());
-	if (textureUniqueId>=0 && textureUniqueId<m_data->m_textures.size())
-	{
-		TinyRendererObjectArray** ptrptr = m_data->m_swRenderInstances.getAtIndex(shapeUniqueId);
-		if (ptrptr && *ptrptr)
-		{
-			TinyRendererObjectArray* ptr = *ptrptr;
-			ptr->m_renderObjects[0]->m_model->setDiffuseTextureFromData(m_data->m_textures[textureUniqueId].textureData,m_data->m_textures[textureUniqueId].m_width,m_data->m_textures[textureUniqueId].m_height);
-		}
-	}
-}
 
 void TinyRendererVisualShapeConverter::activateShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId)
 {
-    int start = -1;
-    for (int i = 0; i < m_data->m_visualShapes.size(); i++)
-    {
-        if (m_data->m_visualShapes[i].m_objectUniqueId == objectUniqueId && m_data->m_visualShapes[i].m_linkIndex == jointIndex)
-        {
-			if (shapeIndex<0)
-			{
-				activateShapeTexture(i, textureUniqueId);		
-			} else
-			{
-	            start = i;
-		        break;
-			}
-        }
-    }
-    if (shapeIndex>=0)
+	btAssert(textureUniqueId < m_data->m_textures.size());
+	if (textureUniqueId >= 0 && textureUniqueId < m_data->m_textures.size())
 	{
-		if (start >= 0)
+		for (int n = 0; n < m_data->m_swRenderInstances.size(); n++)
 		{
-			if (start + shapeIndex < m_data->m_visualShapes.size())
+			TinyRendererObjectArray** visualArrayPtr = m_data->m_swRenderInstances.getAtIndex(n);
+			if (0 == visualArrayPtr)
+				continue;//can this ever happen?
+			TinyRendererObjectArray* visualArray = *visualArrayPtr;
+
+			if (visualArray->m_objectUniqueId == objectUniqueId && visualArray->m_linkIndex == jointIndex)
 			{
-				activateShapeTexture(start + shapeIndex, textureUniqueId);
+				for (int v = 0; v < visualArray->m_renderObjects.size(); v++)
+				{
+					TinyRenderObjectData* renderObj = visualArray->m_renderObjects[v];
+					if ((shapeIndex < 0) || (shapeIndex == v))
+					{
+						renderObj->m_model->setDiffuseTextureFromData(m_data->m_textures[textureUniqueId].textureData, m_data->m_textures[textureUniqueId].m_width, m_data->m_textures[textureUniqueId].m_height);
+					}
+				}
 			}
+
 		}
 	}
 }
diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.h b/examples/SharedMemory/TinyRendererVisualShapeConverter.h
index acc036229..97bbb0a36 100644
--- a/examples/SharedMemory/TinyRendererVisualShapeConverter.h
+++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.h
@@ -51,7 +51,7 @@ struct TinyRendererVisualShapeConverter : public LinkVisualShapesConverter
     
     int loadTextureFile(const char* filename);
     int registerTexture(unsigned char* texels, int width, int height);
-    void activateShapeTexture(int shapeUniqueId, int textureUniqueId);
+   
     void activateShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId);
 	
 };
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index af6f463b0..4032fcb69 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -2902,7 +2902,7 @@ static PyObject* pybullet_getJointInfo(PyObject* self, PyObject* args, PyObject*
 				//          info.m_jointFriction);
 				PyTuple_SetItem(pyListJointInfo, 0, PyInt_FromLong(info.m_jointIndex));
 				
-				if (info.m_jointName)
+				if (info.m_jointName[0])
 				{
 					PyTuple_SetItem(pyListJointInfo, 1,
 								PyString_FromString(info.m_jointName));
@@ -2928,7 +2928,7 @@ static PyObject* pybullet_getJointInfo(PyObject* self, PyObject* args, PyObject*
 								PyFloat_FromDouble(info.m_jointMaxForce));
 				PyTuple_SetItem(pyListJointInfo, 11,
 								PyFloat_FromDouble(info.m_jointMaxVelocity));
-				if (info.m_linkName)
+				if (info.m_linkName[0])
 				{
 				
 					PyTuple_SetItem(pyListJointInfo, 12,