diff --git a/examples/ExampleBrowser/ExampleEntries.cpp b/examples/ExampleBrowser/ExampleEntries.cpp
index 17b920fa9..e6f84bab3 100644
--- a/examples/ExampleBrowser/ExampleEntries.cpp
+++ b/examples/ExampleBrowser/ExampleEntries.cpp
@@ -215,6 +215,11 @@ static ExampleEntry gDefaultExamples[]=
 	
 	ExampleEntry(1,"Physics Server", "Create a physics server that communicates with a physics client over shared memory",
 			PhysicsServerCreateFunc),
+	ExampleEntry(1,"Physics Server (Logging)", "Create a physics server that communicates with a physics client over shared memory. It will log all commands to a file.",
+			PhysicsServerCreateFunc,PHYSICS_SERVER_ENABLE_COMMAND_LOGGING),
+	ExampleEntry(1,"Physics Server (Replay Log)", "Create a physics server that replay a command log from disk.",
+			PhysicsServerCreateFunc,PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG),
+
 	ExampleEntry(1, "Physics Client", "Create a physics client that can communicate with a physics server over shared memory", PhysicsClientCreateFunc),
 #ifdef ENABLE_LUA
 	ExampleEntry(1,"Lua Script", "Create the dynamics world, collision shapes and rigid bodies using Lua scripting",
diff --git a/examples/ExampleBrowser/OpenGLExampleBrowser.cpp b/examples/ExampleBrowser/OpenGLExampleBrowser.cpp
index 87e235c96..bc3356380 100644
--- a/examples/ExampleBrowser/OpenGLExampleBrowser.cpp
+++ b/examples/ExampleBrowser/OpenGLExampleBrowser.cpp
@@ -71,6 +71,7 @@ extern bool useShadowMap;
 static bool visualWireframe=false;
 static bool renderVisualGeometry=true;
 static bool renderGrid = true;
+static bool renderGui = true;
 static bool enable_experimental_opencl = false;
 
 int gDebugDrawFlags = 0;
@@ -170,6 +171,7 @@ void MyKeyboardCallback(int key, int state)
 	if (key=='g' && state)
 	{
 		renderGrid = !renderGrid;
+		renderGui = !renderGui;
 	}
 
 
@@ -1041,7 +1043,7 @@ void OpenGLExampleBrowser::update(float deltaTime)
 		}
 
 		static int toggle = 1;
-		if (1)
+		if (renderGui)
 		{
             if (!pauseSimulation)
                 processProfileData(s_profWindow,false);
diff --git a/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp b/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
index 10bd55e39..cfedc3a9a 100644
--- a/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
+++ b/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
@@ -367,7 +367,7 @@ void ImportUrdfSetup::initPhysics()
 			m_guiHelper->createCollisionShapeGraphicsObject(box);
 			btTransform start; start.setIdentity();
 			btVector3 groundOrigin(0,0,0);
-			groundOrigin[upAxis]=-2;//.5;
+			groundOrigin[upAxis]=-2.5;
 			start.setOrigin(groundOrigin);
 			btRigidBody* body =  createRigidBody(0,start,box);
 			//m_dynamicsWorld->removeRigidBody(body);
diff --git a/examples/SharedMemory/PhysicsServer.cpp b/examples/SharedMemory/PhysicsServer.cpp
index 63bc65275..7218f0ae3 100644
--- a/examples/SharedMemory/PhysicsServer.cpp
+++ b/examples/SharedMemory/PhysicsServer.cpp
@@ -109,6 +109,123 @@ struct InternalBodyHandle : public InteralBodyData
 	}
 };
 
+class btCommandChunk
+{
+public:
+	int		m_chunkCode;
+	int		m_length;
+	void	*m_oldPtr;
+	int		m_dna_nr;
+	int		m_number;
+};
+
+struct CommandLogger
+{
+	FILE* m_file;
+	
+	void	writeHeader(unsigned char* buffer) const
+	{
+
+#ifdef  BT_USE_DOUBLE_PRECISION
+		memcpy(buffer, "BT3CMDd", 7);
+#else
+		memcpy(buffer, "BT3CMDf", 7);
+#endif //BT_USE_DOUBLE_PRECISION
+
+		int littleEndian= 1;
+		littleEndian= ((char*)&littleEndian)[0];
+
+		if (sizeof(void*)==8)
+		{
+			buffer[7] = '-';
+		} else
+		{
+			buffer[7] = '_';
+		}
+
+		if (littleEndian)
+		{
+			buffer[8]='v';
+		} else
+		{
+			buffer[8]='V';
+		}
+
+		buffer[9] = 0;
+		buffer[10] = 0;
+		buffer[11] = 0;
+		
+		int ver = btGetVersion();
+		if (ver>=0 && ver<999)
+		{
+			sprintf((char*)&buffer[9],"%d",ver);
+		}
+		
+	}
+	
+	void logCommand(SharedMemoryBlock* testBlock1)
+	{
+		btCommandChunk chunk;
+		chunk.m_chunkCode = testBlock1->m_clientCommands[0].m_type;
+		chunk.m_oldPtr = 0;
+		chunk.m_dna_nr = 0;
+		chunk.m_length = sizeof(SharedMemoryCommand);
+		chunk.m_number = 1;
+		fwrite((const char*)&chunk,sizeof(btCommandChunk), 1,m_file);
+		fwrite((const char*)&testBlock1->m_clientCommands[0],sizeof(SharedMemoryCommand),1,m_file);
+	}
+
+	CommandLogger(const char* fileName)
+	{
+		m_file = fopen(fileName,"wb");
+		unsigned char buf[15];
+		buf[12] = 12;
+		buf[13] = 13;
+		buf[14] = 14;
+		writeHeader(buf);
+		fwrite(buf,12,1,m_file);
+	}
+	virtual ~CommandLogger()
+	{
+		fclose(m_file);
+	}
+};
+
+
+struct CommandLogPlayback
+{
+	unsigned char* m_header[12];
+	FILE* m_file;
+
+	CommandLogPlayback(const char* fileName)
+	{
+		m_file = fopen(fileName,"rb");
+		if (m_file)
+		{
+			fread(m_header,12,1,m_file);
+		}
+	}
+	virtual ~CommandLogPlayback()
+	{
+		if (m_file)
+		{
+			fclose(m_file);
+			m_file=0;
+		}
+	}
+	bool processNextCommand(SharedMemoryCommand* cmd)
+	{
+		btCommandChunk chunk;
+		size_t s = fread((void*)&chunk,sizeof(btCommandChunk),1,m_file);
+		if (s==1)
+		{
+			s = fread(cmd,sizeof(SharedMemoryCommand),1,m_file);
+			return (s==1);
+		}
+		return false;
+	}
+};
+
 struct PhysicsServerInternalData
 {
 	///handle management
@@ -200,6 +317,9 @@ struct PhysicsServerInternalData
 	
 	SharedMemoryInterface* m_sharedMemory;
     SharedMemoryBlock* m_testBlock1;
+	CommandLogger* m_commandLogger;
+	CommandLogPlayback* m_logPlayback;
+
 	bool m_isConnected;
 	btScalar m_physicsDeltaTime;
 	btAlignedObjectArray<btMultiBodyJointFeedback*> m_multiBodyJointFeedbacks;
@@ -217,8 +337,8 @@ struct PhysicsServerInternalData
 	btMultiBodyConstraintSolver*	m_solver;
 	btDefaultCollisionConfiguration* m_collisionConfiguration;
 	btMultiBodyDynamicsWorld* m_dynamicsWorld;
-	SharedMemoryDebugDrawer*		m_debugDrawer;
-
+	SharedMemoryDebugDrawer*		m_remoteDebugDrawer;
+	
     
 
     
@@ -240,10 +360,12 @@ struct PhysicsServerInternalData
 	PhysicsServerInternalData()
 		:m_sharedMemory(0),
 		m_testBlock1(0),
+		m_commandLogger(0),
+		m_logPlayback(0),
 		m_isConnected(false),
 		m_physicsDeltaTime(1./240.),
 		m_dynamicsWorld(0),
-		m_debugDrawer(0),
+		m_remoteDebugDrawer(0),
 		m_guiHelper(0),
 		m_sharedMemoryKey(SHARED_MEMORY_KEY),
 		m_verboseOutput(false),
@@ -332,6 +454,12 @@ PhysicsServerSharedMemory::PhysicsServerSharedMemory()
 PhysicsServerSharedMemory::~PhysicsServerSharedMemory()
 {
 	deleteDynamicsWorld();
+	if (m_data->m_commandLogger)
+	{
+		delete m_data->m_commandLogger;
+		m_data->m_commandLogger = 0;
+	}
+
 	delete m_data;
 }
 
@@ -356,8 +484,8 @@ void PhysicsServerSharedMemory::createEmptyDynamicsWorld()
 	
 	m_data->m_dynamicsWorld = new btMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration);
 
-	m_data->m_debugDrawer = new SharedMemoryDebugDrawer();
-	m_data->m_dynamicsWorld->setDebugDrawer(m_data->m_debugDrawer);
+	m_data->m_remoteDebugDrawer = new SharedMemoryDebugDrawer();
+	
 	
 	m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, 0));
 }
@@ -424,8 +552,8 @@ void PhysicsServerSharedMemory::deleteDynamicsWorld()
 	delete m_data->m_dynamicsWorld;
 	m_data->m_dynamicsWorld=0;
 
-	delete m_data->m_debugDrawer;
-	m_data->m_debugDrawer=0;
+	delete m_data->m_remoteDebugDrawer;
+	m_data->m_remoteDebugDrawer =0;
 
 	delete m_data->m_solver;
 	m_data->m_solver=0;
@@ -445,8 +573,13 @@ bool PhysicsServerSharedMemory::connectSharedMemory( struct GUIHelperInterface*
 {
 	m_data->m_guiHelper = guiHelper;
 	
+	if (m_data->m_guiHelper)
+	{
+		m_data->m_guiHelper->createPhysicsDebugDrawer(m_data->m_dynamicsWorld);
+	}
+	
 	bool allowCreation = true;
-	bool allowConnectToExistingSharedMemory = false;
+	
 
     if (m_data->m_isConnected)
     {
@@ -455,41 +588,58 @@ bool PhysicsServerSharedMemory::connectSharedMemory( struct GUIHelperInterface*
     }
     
     
-	m_data->m_testBlock1 = (SharedMemoryBlock*)m_data->m_sharedMemory->allocateSharedMemory(m_data->m_sharedMemoryKey, SHARED_MEMORY_SIZE,allowCreation);
-    if (m_data->m_testBlock1)
-    {
-        int magicId =m_data->m_testBlock1->m_magicId;
-        if (m_data->m_verboseOutput)
+	int counter = 0;
+	do 
+	{
+
+		m_data->m_testBlock1 = (SharedMemoryBlock*)m_data->m_sharedMemory->allocateSharedMemory(m_data->m_sharedMemoryKey, SHARED_MEMORY_SIZE,allowCreation);
+		if (m_data->m_testBlock1)
 		{
-			b3Printf("magicId = %d\n", magicId);
-		}
-        
-        if (m_data->m_testBlock1->m_magicId !=SHARED_MEMORY_MAGIC_NUMBER)
-        {
-            InitSharedMemoryBlock(m_data->m_testBlock1);
+			int magicId =m_data->m_testBlock1->m_magicId;
 			if (m_data->m_verboseOutput)
 			{
-				b3Printf("Created and initialized shared memory block\n");
+				b3Printf("magicId = %d\n", magicId);
 			}
-            m_data->m_isConnected = true;
-        } else
+        
+			if (m_data->m_testBlock1->m_magicId !=SHARED_MEMORY_MAGIC_NUMBER)
+			{
+				InitSharedMemoryBlock(m_data->m_testBlock1);
+				if (m_data->m_verboseOutput)
+				{
+					b3Printf("Created and initialized shared memory block\n");
+				}
+				m_data->m_isConnected = true;
+			} else
+			{
+				m_data->m_sharedMemory->releaseSharedMemory(m_data->m_sharedMemoryKey, SHARED_MEMORY_SIZE);
+				m_data->m_testBlock1 = 0;
+				m_data->m_isConnected = false;
+			}
+		} else
 		{
-			b3Error("Server cannot connect to existing shared memory, disconnecting shared memory.\n");
-            m_data->m_sharedMemory->releaseSharedMemory(m_data->m_sharedMemoryKey, SHARED_MEMORY_SIZE);
-            m_data->m_testBlock1 = 0;
-            m_data->m_isConnected = false;
+			b3Error("Cannot connect to shared memory");
+			m_data->m_isConnected = false;
 		}
-    } else
+	} while (counter++ < 10 && !m_data->m_isConnected);
+
+	if (!m_data->m_isConnected)
 	{
-		b3Error("Cannot connect to shared memory");
-		m_data->m_isConnected = false;
+		b3Error("Server cannot connect to shared memory.\n");
 	}
+	
 	return m_data->m_isConnected;
 }
 
 
 void PhysicsServerSharedMemory::disconnectSharedMemory(bool deInitializeSharedMemory)
 {
+	if (m_data->m_guiHelper)
+	{
+		if (m_data->m_guiHelper && m_data->m_dynamicsWorld && m_data->m_dynamicsWorld->getDebugDrawer())
+		{
+			m_data->m_dynamicsWorld->setDebugDrawer(0);
+		}
+	}
 	if (m_data->m_verboseOutput)
 	{
 		b3Printf("releaseSharedMemory1\n");
@@ -708,15 +858,35 @@ void PhysicsServerSharedMemory::processClientCommands()
 {
 	if (m_data->m_isConnected && m_data->m_testBlock1)
     {
+		if (m_data->m_logPlayback)
+		{
+			if (m_data->m_testBlock1->m_numServerCommands>m_data->m_testBlock1->m_numProcessedServerCommands)
+			{
+				m_data->m_testBlock1->m_numProcessedServerCommands++;
+			}
+			//push a command from log file
+			bool hasCommand = m_data->m_logPlayback->processNextCommand(&m_data->m_testBlock1->m_clientCommands[0]);
+			if (hasCommand)
+			{
+				m_data->m_testBlock1->m_numClientCommands++;
+			}
+		}
         ///we ignore overflow of integer for now
         if (m_data->m_testBlock1->m_numClientCommands> m_data->m_testBlock1->m_numProcessedClientCommands)
         {
-            
+           
+
             //until we implement a proper ring buffer, we assume always maximum of 1 outstanding commands
             btAssert(m_data->m_testBlock1->m_numClientCommands==m_data->m_testBlock1->m_numProcessedClientCommands+1);
             
 			const SharedMemoryCommand& clientCmd =m_data->m_testBlock1->m_clientCommands[0];
+			if (m_data->m_commandLogger)
+			{
+				m_data->m_commandLogger->logCommand(m_data->m_testBlock1);
+			}
+
 			m_data->m_testBlock1->m_numProcessedClientCommands++;
+			
 			//no timestamp yet
             int timeStamp = 0;
 
@@ -749,7 +919,7 @@ void PhysicsServerSharedMemory::processClientCommands()
 				}
 				case CMD_REQUEST_DEBUG_LINES:
 					{
-						int curFlags =m_data->m_debugDrawer->getDebugMode();
+						int curFlags =m_data->m_remoteDebugDrawer->getDebugMode();
                         
                         int debugMode = clientCmd.m_requestDebugLinesArguments.m_debugMode;//clientCmd.btIDebugDraw::DBG_DrawWireframe|btIDebugDraw::DBG_DrawAabb;
                         int startingLineIndex = clientCmd.m_requestDebugLinesArguments.m_startingLineIndex;
@@ -761,23 +931,26 @@ void PhysicsServerSharedMemory::processClientCommands()
                         
                         if (clientCmd.m_requestDebugLinesArguments.m_startingLineIndex==0)
                         {
-                            m_data->m_debugDrawer->m_lines2.resize(0);
+                            m_data->m_remoteDebugDrawer->m_lines2.resize(0);
                             //|btIDebugDraw::DBG_DrawAabb|
                             //	btIDebugDraw::DBG_DrawConstraints |btIDebugDraw::DBG_DrawConstraintLimits ;
-                            m_data->m_debugDrawer->setDebugMode(debugMode);
+                            m_data->m_remoteDebugDrawer->setDebugMode(debugMode);
+							btIDebugDraw* oldDebugDrawer = m_data->m_dynamicsWorld->getDebugDrawer();
+							m_data->m_dynamicsWorld->setDebugDrawer(m_data->m_remoteDebugDrawer);
                             m_data->m_dynamicsWorld->debugDrawWorld();
-                            m_data->m_debugDrawer->setDebugMode(curFlags);
+							m_data->m_dynamicsWorld->setDebugDrawer(oldDebugDrawer);
+                            m_data->m_remoteDebugDrawer->setDebugMode(curFlags);
                         }
 
                         //9 floats per line: 3 floats for 'from', 3 floats for 'to' and 3 floats for 'color'
                         int maxNumLines = SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE/(sizeof(float)*9)-1;
-                        if (startingLineIndex >m_data->m_debugDrawer->m_lines2.size())
+                        if (startingLineIndex >m_data->m_remoteDebugDrawer->m_lines2.size())
                         {
                             b3Warning("m_startingLineIndex exceeds total number of debug lines");
-                            startingLineIndex =m_data->m_debugDrawer->m_lines2.size();
+                            startingLineIndex =m_data->m_remoteDebugDrawer->m_lines2.size();
                         }
                         
-                        int numLines = btMin(maxNumLines,m_data->m_debugDrawer->m_lines2.size()-startingLineIndex);
+                        int numLines = btMin(maxNumLines,m_data->m_remoteDebugDrawer->m_lines2.size()-startingLineIndex);
                         
                         if (numLines)
                         {
@@ -788,24 +961,24 @@ void PhysicsServerSharedMemory::processClientCommands()
 
 							for (int i=0;i<numLines;i++)
 							{
-								linesFrom[i*3] = m_data->m_debugDrawer->m_lines2[i+startingLineIndex].m_from.x();
-								linesTo[i*3] = m_data->m_debugDrawer->m_lines2[i+startingLineIndex].m_to.x();
-								linesColor[i*3] = m_data->m_debugDrawer->m_lines2[i+startingLineIndex].m_color.x();
+								linesFrom[i*3] = m_data->m_remoteDebugDrawer->m_lines2[i+startingLineIndex].m_from.x();
+								linesTo[i*3] = m_data->m_remoteDebugDrawer->m_lines2[i+startingLineIndex].m_to.x();
+								linesColor[i*3] = m_data->m_remoteDebugDrawer->m_lines2[i+startingLineIndex].m_color.x();
 
-								linesFrom[i*3+1] = m_data->m_debugDrawer->m_lines2[i+startingLineIndex].m_from.y();
-								linesTo[i*3+1] = m_data->m_debugDrawer->m_lines2[i+startingLineIndex].m_to.y();
-								linesColor[i*3+1] = m_data->m_debugDrawer->m_lines2[i+startingLineIndex].m_color.y();
+								linesFrom[i*3+1] = m_data->m_remoteDebugDrawer->m_lines2[i+startingLineIndex].m_from.y();
+								linesTo[i*3+1] = m_data->m_remoteDebugDrawer->m_lines2[i+startingLineIndex].m_to.y();
+								linesColor[i*3+1] = m_data->m_remoteDebugDrawer->m_lines2[i+startingLineIndex].m_color.y();
 
-								linesFrom[i*3+2] = m_data->m_debugDrawer->m_lines2[i+startingLineIndex].m_from.z();
-								linesTo[i*3+2] = m_data->m_debugDrawer->m_lines2[i+startingLineIndex].m_to.z();
-								linesColor[i*3+2] = m_data->m_debugDrawer->m_lines2[i+startingLineIndex].m_color.z();
+								linesFrom[i*3+2] = m_data->m_remoteDebugDrawer->m_lines2[i+startingLineIndex].m_from.z();
+								linesTo[i*3+2] = m_data->m_remoteDebugDrawer->m_lines2[i+startingLineIndex].m_to.z();
+								linesColor[i*3+2] = m_data->m_remoteDebugDrawer->m_lines2[i+startingLineIndex].m_color.z();
                             }
 						}
                         
                         SharedMemoryStatus& status = m_data->createServerStatus(CMD_DEBUG_LINES_COMPLETED,clientCmd.m_sequenceNumber,timeStamp);
                         status.m_sendDebugLinesArgs.m_numDebugLines = numLines;
                         status.m_sendDebugLinesArgs.m_startingLineIndex = startingLineIndex;
-                        status.m_sendDebugLinesArgs.m_numRemainingDebugLines = m_data->m_debugDrawer->m_lines2.size()-(startingLineIndex+numLines);
+                        status.m_sendDebugLinesArgs.m_numRemainingDebugLines = m_data->m_remoteDebugDrawer->m_lines2.size()-(startingLineIndex+numLines);
                         m_data->submitServerStatus(status);
                         
 						break;
@@ -1533,17 +1706,14 @@ void PhysicsServerSharedMemory::renderScene()
 
 void    PhysicsServerSharedMemory::physicsDebugDraw(int debugDrawFlags)
 {
-#if 0
 	if (m_data->m_dynamicsWorld)
 	{
 		if (m_data->m_dynamicsWorld->getDebugDrawer())
 		{
-			//m_data->m_debugDrawer->m_lines.clear();
-			//m_data->m_dynamicsWorld->getDebugDrawer()->setDebugMode(debugDrawFlags);
+			m_data->m_dynamicsWorld->getDebugDrawer()->setDebugMode(debugDrawFlags);
+			m_data->m_dynamicsWorld->debugDrawWorld();
 		}
-		m_data->m_dynamicsWorld->debugDrawWorld();
 	}
-#endif
 }
 
 
@@ -1665,3 +1835,27 @@ void PhysicsServerSharedMemory::removePickingConstraint()
 		m_data->m_pickingMultiBodyPoint2Point = 0;
 	}
 }
+
+void PhysicsServerSharedMemory::enableCommandLogging(bool enable, const char* fileName)
+{
+	if (enable)
+	{
+		if (0==m_data->m_commandLogger)
+		{
+			m_data->m_commandLogger = new CommandLogger(fileName);
+		}
+	} else
+	{
+		if (0!=m_data->m_commandLogger)
+		{
+			delete m_data->m_commandLogger;
+			m_data->m_commandLogger = 0;
+		}
+	}
+}
+
+void PhysicsServerSharedMemory::replayFromLogFile(const char* fileName)
+{
+	CommandLogPlayback* pb = new CommandLogPlayback(fileName);
+	m_data->m_logPlayback = pb;
+}
\ No newline at end of file
diff --git a/examples/SharedMemory/PhysicsServer.h b/examples/SharedMemory/PhysicsServer.h
index 96011606a..d5730aad4 100644
--- a/examples/SharedMemory/PhysicsServer.h
+++ b/examples/SharedMemory/PhysicsServer.h
@@ -54,6 +54,10 @@ public:
 	void    physicsDebugDraw(int debugDrawFlags);
 	void    renderScene();
 
+	void enableCommandLogging(bool enable, const char* fileName);
+	void replayFromLogFile(const char* fileName);
+	
+
 };
 
 
diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp
index a2239221b..2d9fed993 100644
--- a/examples/SharedMemory/PhysicsServerExample.cpp
+++ b/examples/SharedMemory/PhysicsServerExample.cpp
@@ -29,7 +29,17 @@ public:
     
 	virtual void	stepSimulation(float deltaTime);
     
-    
+    void enableCommandLogging()
+	{
+		m_physicsServer.enableCommandLogging(true,"BulletPhysicsCommandLog.bin");
+	}
+
+	void replayFromLogFile()
+	{
+		m_physicsServer.replayFromLogFile("BulletPhysicsCommandLog.bin");
+	}
+	
+
     
 	virtual void resetCamera()
 	{
@@ -190,18 +200,7 @@ void    PhysicsServerExample::physicsDebugDraw(int debugDrawFlags)
 
 }
 
-extern int gSharedMemoryKey;
 
-class CommonExampleInterface*    PhysicsServerCreateFunc(struct CommonExampleOptions& options)
-{
-  	PhysicsServerExample* example = new PhysicsServerExample(options.m_guiHelper);
-	if (gSharedMemoryKey>=0)
-	{
-		example->setSharedMemoryKey(gSharedMemoryKey);
-	}
-	return example;
-	
-}
 
 btVector3	PhysicsServerExample::getRayTo(int x,int y)
 {
@@ -267,3 +266,24 @@ btVector3	PhysicsServerExample::getRayTo(int x,int y)
 	return rayTo;
 }
 
+
+extern int gSharedMemoryKey;
+
+class CommonExampleInterface*    PhysicsServerCreateFunc(struct CommonExampleOptions& options)
+{
+  	PhysicsServerExample* example = new PhysicsServerExample(options.m_guiHelper);
+	if (gSharedMemoryKey>=0)
+	{
+		example->setSharedMemoryKey(gSharedMemoryKey);
+	}
+	if (options.m_option & PHYSICS_SERVER_ENABLE_COMMAND_LOGGING)
+	{
+		example->enableCommandLogging();
+	}
+	if (options.m_option & PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG)
+	{
+		example->replayFromLogFile();
+	}
+	return example;
+	
+}
diff --git a/examples/SharedMemory/PhysicsServerExample.h b/examples/SharedMemory/PhysicsServerExample.h
index 15e393db8..e88074230 100644
--- a/examples/SharedMemory/PhysicsServerExample.h
+++ b/examples/SharedMemory/PhysicsServerExample.h
@@ -1,6 +1,11 @@
 #ifndef PHYSICS_SERVER_EXAMPLE_H
 #define PHYSICS_SERVER_EXAMPLE_H
 
+enum PhysicsServerOptions
+{
+	PHYSICS_SERVER_ENABLE_COMMAND_LOGGING=1,
+	PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG=2,
+};
 
 class CommonExampleInterface*    PhysicsServerCreateFunc(struct CommonExampleOptions& options);
 
diff --git a/examples/SharedMemory/SharedMemoryBlock.h b/examples/SharedMemory/SharedMemoryBlock.h
index 36cd60f35..fa80c36c9 100644
--- a/examples/SharedMemory/SharedMemoryBlock.h
+++ b/examples/SharedMemory/SharedMemoryBlock.h
@@ -2,7 +2,7 @@
 #define SHARED_MEMORY_BLOCK_H
 
 #define SHARED_MEMORY_MAGIC_NUMBER 64738
-#define SHARED_MEMORY_MAX_COMMANDS 32
+#define SHARED_MEMORY_MAX_COMMANDS 4
 #define SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE (256*1024)
 
 #include "SharedMemoryCommands.h"
diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h
index 6016a3ba1..11a99917e 100644
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -26,7 +26,7 @@
 
 
 #define SHARED_MEMORY_SERVER_TEST_C
-#define MAX_DEGREE_OF_FREEDOM 256
+#define MAX_DEGREE_OF_FREEDOM 64
 #define MAX_NUM_SENSORS 256
 #define MAX_URDF_FILENAME_LENGTH 1024
 #define MAX_FILENAME_LENGTH MAX_URDF_FILENAME_LENGTH
diff --git a/test/SharedMemory/premake4.lua b/test/SharedMemory/premake4.lua
index 1eeb98178..9ef8f6c93 100644
--- a/test/SharedMemory/premake4.lua
+++ b/test/SharedMemory/premake4.lua
@@ -49,10 +49,10 @@ project ("Test_PhysicsLoopBack")
 			"../../examples/SharedMemory/PhysicsClient.h",
 			"../../examples/SharedMemory/PhysicsServer.cpp",
 			"../../examples/SharedMemory/PhysicsServer.h",
-			"../../examples/SharedMemory/PhysicsLoopback.cpp",
-			"../../examples/SharedMemory/PhysicsLoopback.h",
-			"../../examples/SharedMemory/PhysicsLoopbackC_Api.cpp",
-			"../../examples/SharedMemory/PhysicsLoopbackC_Api.h",
+			"../../examples/SharedMemory/PhysicsLoopBack.cpp",
+			"../../examples/SharedMemory/PhysicsLoopBack.h",
+			"../../examples/SharedMemory/PhysicsLoopBackC_Api.cpp",
+			"../../examples/SharedMemory/PhysicsLoopBackC_Api.h",
 			"../../examples/SharedMemory/PhysicsClientSharedMemory.cpp",
 			"../../examples/SharedMemory/PhysicsClientSharedMemory.h",
 			"../../examples/SharedMemory/PhysicsClientC_API.cpp",
@@ -78,4 +78,4 @@ project ("Test_PhysicsLoopBack")
 			"../../examples/Importers/ImportURDFDemo/UrdfParser.cpp",
 			"../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp",
 		}
-		
\ No newline at end of file
+		
diff --git a/test/SharedMemory/test.c b/test/SharedMemory/test.c
index d3939583f..c7347ae00 100644
--- a/test/SharedMemory/test.c
+++ b/test/SharedMemory/test.c
@@ -2,7 +2,7 @@
 #include "PhysicsClientC_API.h"
 
 #ifdef PHYSICS_LOOP_BACK
-#include "PhysicsLoopbackC_API.h"
+#include "PhysicsLoopBackC_API.h"
 #endif //PHYSICS_LOOP_BACK
 
 #include "SharedMemoryPublic.h"