diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index 4e5b4982b..b116999d6 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -558,12 +558,18 @@ int b3GetJointState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle
 		  {
 			  state->m_jointPosition = status->m_sendActualStateArgs.m_actualStateQ[info.m_qIndex];
 			  state->m_jointVelocity = status->m_sendActualStateArgs.m_actualStateQdot[info.m_uIndex];
-			  for (int ii(0); ii < 6; ++ii) {
-				state->m_jointForceTorque[ii] = status->m_sendActualStateArgs.m_jointReactionForces[6 * jointIndex + ii];
-			  }
-			  state->m_jointMotorTorque = status->m_sendActualStateArgs.m_jointMotorForce[jointIndex];
-			  return 1;
-		  }
+          } else
+          {
+              state->m_jointPosition=0;
+              state->m_jointVelocity=0;
+          }
+          for (int ii(0); ii < 6; ++ii)
+          {
+            state->m_jointForceTorque[ii] = status->m_sendActualStateArgs.m_jointReactionForces[6 * jointIndex + ii];
+          }
+          state->m_jointMotorTorque = status->m_sendActualStateArgs.m_jointMotorForce[jointIndex];
+          return 1;
+		  
 	  }
   }
   return 0;
diff --git a/examples/SharedMemory/udp/main.cpp b/examples/SharedMemory/udp/main.cpp
index 3a3f07ac7..de83fb56b 100644
--- a/examples/SharedMemory/udp/main.cpp
+++ b/examples/SharedMemory/udp/main.cpp
@@ -133,9 +133,11 @@ int main(int argc, char *argv[])
                         {
 						if (gVerboseNetworkMessagesServer)
 						{
+							int dataLen = (int)event.packet->dataLength;
+
 							printf("A packet of length %u containing '%s' was "
 								"received from %s on channel %u.\n",
-								event.packet->dataLength,
+								dataLen,
 								event.packet->data,
 								event.peer->data,
 								event.channelID);
diff --git a/test/SharedMemory/premake4.lua b/test/SharedMemory/premake4.lua
index 3f060285a..b886a9650 100644
--- a/test/SharedMemory/premake4.lua
+++ b/test/SharedMemory/premake4.lua
@@ -28,6 +28,58 @@ project ("Test_SharedMemoryPhysicsClient")
 			"../../examples/Utils/b3ResourcePath.cpp",
 			"../../examples/Utils/b3ResourcePath.h",
 		}
+
+project ("Test_PhysicsClientUDP")
+
+                language "C++"
+                kind "ConsoleApp"
+
+                includedirs {
+                "../../src", 
+                "../../examples",
+                "../../examples/ThirdPartyLibs/enet/include"
+                }
+                links {
+												"enet",
+                        "BulletFileLoader",
+                        "Bullet3Common",
+                        "LinearMath"
+                }
+		if os.is("Windows") then
+                	defines { "WIN32" }
+        	        links {"Ws2_32","Winmm"}
+	        end
+
+                defines {"PHYSICS_UDP"}
+
+                files {
+									"test.c",
+									"../../examples/SharedMemory/PhysicsClient.cpp",
+									"../../examples/SharedMemory/PhysicsClient.h",
+									"../../examples/SharedMemory/PhysicsClientSharedMemory.cpp",
+									"../../examples/SharedMemory/PhysicsClientSharedMemory.h",
+									"../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp",
+									"../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h",
+									"../../examples/SharedMemory/PhysicsClientUDP.cpp",
+									"../../examples/SharedMemory/PhysicsClientUDP.h",
+									"../../examples/SharedMemory/PhysicsClientUDP_C_API.cpp",
+									"../../examples/SharedMemory/PhysicsClientUDP_C_API.h",
+									"../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h",	
+									"../../examples/SharedMemory/PhysicsClientC_API.cpp",
+									"../../examples/SharedMemory/PhysicsClientC_API.h",
+									"../../examples/SharedMemory/Win32SharedMemory.cpp",
+									"../../examples/SharedMemory/Win32SharedMemory.h",
+									"../../examples/SharedMemory/PosixSharedMemory.cpp",
+									"../../examples/SharedMemory/PosixSharedMemory.h",
+									"../../examples/Utils/b3ResourcePath.cpp",
+									"../../examples/Utils/b3ResourcePath.h",
+									"../../examples/SharedMemory/PhysicsDirect.cpp",
+									"../../examples/Utils/b3Clock.cpp",
+									"../../examples/MultiThreading/b3PosixThreadSupport.cpp",
+									"../../examples/MultiThreading/b3Win32ThreadSupport.cpp",
+									"../../examples/MultiThreading/b3ThreadSupportInterface.cpp",
+            }
+
 		
 project ("Test_PhysicsServerLoopBack")
 
diff --git a/test/SharedMemory/test.c b/test/SharedMemory/test.c
index f7eeb18ad..211daf0df 100644
--- a/test/SharedMemory/test.c
+++ b/test/SharedMemory/test.c
@@ -256,6 +256,7 @@ void testSharedMemory(b3PhysicsClientHandle sm)
 			b3RequestCameraImageSetPixelResolution(command, width, height);
 			statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
 		}
+        
         if (b3CanSubmitCommand(sm))
         {
             b3SharedMemoryStatusHandle state = b3SubmitClientCommandAndWaitStatus(sm, b3RequestActualStateCommandInit(sm,bodyIndex));