diff --git a/examples/SharedMemory/PhysicsClient.cpp b/examples/SharedMemory/PhysicsClient.cpp
index 9b493d0f4..b9be5dfdf 100644
--- a/examples/SharedMemory/PhysicsClient.cpp
+++ b/examples/SharedMemory/PhysicsClient.cpp
@@ -434,9 +434,9 @@ bool	PhysicsClientSharedMemory::processServerStatus(SharedMemoryStatus& serverSt
 					}
 
 					int numLines = serverCmd.m_sendDebugLinesArgs.m_numDebugLines;
-					btVector3* linesFrom = (btVector3*)&m_data->m_testBlock1->m_bulletStreamDataServerToClient[0];
-					btVector3* linesTo = (btVector3*)(&m_data->m_testBlock1->m_bulletStreamDataServerToClient[0]+numLines*sizeof(btVector3));
-					btVector3* linesColor = (btVector3*)(&m_data->m_testBlock1->m_bulletStreamDataServerToClient[0]+2*numLines*sizeof(btVector3));
+					btScalar* linesFrom = (btScalar*)&m_data->m_testBlock1->m_bulletStreamDataServerToClient[0];
+					btScalar* linesTo = (btScalar*)(&m_data->m_testBlock1->m_bulletStreamDataServerToClient[0]+numLines*sizeof(btVector3));
+					btScalar* linesColor = (btScalar*)(&m_data->m_testBlock1->m_bulletStreamDataServerToClient[0]+2*numLines*sizeof(btVector3));
 
 					m_data->m_debugLinesFrom.resize(numLines);
 					m_data->m_debugLinesTo.resize(numLines);
@@ -444,9 +444,13 @@ bool	PhysicsClientSharedMemory::processServerStatus(SharedMemoryStatus& serverSt
 
 					for (int i=0;i<numLines;i++)
 					{
-						m_data->m_debugLinesFrom[i] = linesFrom[i];
-						m_data->m_debugLinesTo[i] = linesTo[i];
-						m_data->m_debugLinesColor[i] = linesColor[i];
+						btVector3 from(linesFrom[i*4],linesFrom[i*4+1],linesFrom[i*4+2]);
+                     				btVector3 to(linesTo[i*4],linesTo[i*4+1],linesTo[i*4+2]);
+						btVector3 color(linesColor[i*4],linesColor[i*4+1],linesColor[i*4+2]);
+
+						m_data->m_debugLinesFrom[i] = from;
+						m_data->m_debugLinesTo[i] = to;
+						m_data->m_debugLinesColor[i] = color;
 					}
 					break;
 				}
@@ -566,4 +570,4 @@ const btVector3* PhysicsClientSharedMemory::getDebugLinesColor() const
 int	PhysicsClientSharedMemory::getNumDebugLines() const
 {
 	return m_data->m_debugLinesFrom.size();
-}
\ No newline at end of file
+}
diff --git a/examples/SharedMemory/PhysicsClientExample.cpp b/examples/SharedMemory/PhysicsClientExample.cpp
index 190fb6f50..ca83b90c0 100644
--- a/examples/SharedMemory/PhysicsClientExample.cpp
+++ b/examples/SharedMemory/PhysicsClientExample.cpp
@@ -107,7 +107,7 @@ void MyCallback(int buttonId, bool buttonState, void* userPtr)
 	case  CMD_LOAD_URDF:
 		{
 			command.m_type =CMD_LOAD_URDF;
-			sprintf(command.m_urdfArguments.m_urdfFileName,"r2d2.urdf");//kuka_lwr/kuka.urdf");
+			sprintf(command.m_urdfArguments.m_urdfFileName,"kuka_lwr/kuka.urdf");
             command.m_urdfArguments.m_initialPosition[0] = 0.0;
 			command.m_updateFlags = 
 				URDF_ARGS_FILE_NAME| URDF_ARGS_INITIAL_POSITION|URDF_ARGS_INITIAL_ORIENTATION|URDF_ARGS_USE_MULTIBODY|URDF_ARGS_USE_FIXED_BASE;
diff --git a/examples/SharedMemory/PhysicsServer.cpp b/examples/SharedMemory/PhysicsServer.cpp
index 665fe6694..e90b04676 100644
--- a/examples/SharedMemory/PhysicsServer.cpp
+++ b/examples/SharedMemory/PhysicsServer.cpp
@@ -549,6 +549,7 @@ void PhysicsServerSharedMemory::processClientCommands()
 					{
 						int curFlags =m_data->m_debugDrawer->getDebugMode();
 						int debugMode = btIDebugDraw::DBG_DrawWireframe|btIDebugDraw::DBG_DrawAabb;
+						m_data->m_debugDrawer->m_lines.resize(0);
 						//|btIDebugDraw::DBG_DrawAabb|
 						//	btIDebugDraw::DBG_DrawConstraints |btIDebugDraw::DBG_DrawConstraintLimits ;
 						m_data->m_debugDrawer->setDebugMode(debugMode);
@@ -560,16 +561,24 @@ void PhysicsServerSharedMemory::processClientCommands()
 						if (memRequirements<SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE)
 						{
 
-							btVector3* linesFrom = (btVector3*)&m_data->m_testBlock1->m_bulletStreamDataServerToClient[0];
-							btVector3* linesTo = (btVector3*)(&m_data->m_testBlock1->m_bulletStreamDataServerToClient[0]+numLines*sizeof(btVector3));
-							btVector3* linesColor = (btVector3*)(&m_data->m_testBlock1->m_bulletStreamDataServerToClient[0]+2*numLines*sizeof(btVector3));
+							btScalar* linesFrom = (btScalar*)&m_data->m_testBlock1->m_bulletStreamDataServerToClient[0];
+							btScalar* linesTo = (btScalar*)(&m_data->m_testBlock1->m_bulletStreamDataServerToClient[0]+numLines*sizeof(btVector3));
+							btScalar* linesColor = (btScalar*)(&m_data->m_testBlock1->m_bulletStreamDataServerToClient[0]+2*numLines*sizeof(btVector3));
 
 							for (int i=0;i<numLines;i++)
 							{
-								linesFrom[i] = m_data->m_debugDrawer->m_lines[i].m_from;
-								linesTo[i] = m_data->m_debugDrawer->m_lines[i].m_to;
-								linesColor[i] = m_data->m_debugDrawer->m_lines[i].m_color;
-							}
+								linesFrom[i*4] = m_data->m_debugDrawer->m_lines[i].m_from.x();
+								linesTo[i*4] = m_data->m_debugDrawer->m_lines[i].m_to.x();
+								linesColor[i*4] = m_data->m_debugDrawer->m_lines[i].m_color.x();
+
+								linesFrom[i*4+1] = m_data->m_debugDrawer->m_lines[i].m_from.y();
+								linesTo[i*4+1] = m_data->m_debugDrawer->m_lines[i].m_to.y();
+								linesColor[i*4+1] = m_data->m_debugDrawer->m_lines[i].m_color.y();
+
+								linesFrom[i*4+2] = m_data->m_debugDrawer->m_lines[i].m_from.z();
+								linesTo[i*4+2] = m_data->m_debugDrawer->m_lines[i].m_to.z();
+								linesColor[i*4+2] = m_data->m_debugDrawer->m_lines[i].m_color.z();
+}
 							SharedMemoryStatus& status = m_data->createServerStatus(CMD_DEBUG_LINES_COMPLETED,clientCmd.m_sequenceNumber,timeStamp);
 							status.m_sendDebugLinesArgs.m_numDebugLines = numLines;
 							m_data->submitServerStatus(status);