diff --git a/examples/ExampleBrowser/ExampleEntries.cpp b/examples/ExampleBrowser/ExampleEntries.cpp
index 6fa29abf6..f66c30cfe 100644
--- a/examples/ExampleBrowser/ExampleEntries.cpp
+++ b/examples/ExampleBrowser/ExampleEntries.cpp
@@ -254,6 +254,10 @@ void ExampleEntries::initExampleEntries()
 {
 	m_data->m_allExamples.clear();
 
+	for (int i=0;i<gAdditionalRegisteredExamples.size();i++)
+	{
+		m_data->m_allExamples.push_back(gAdditionalRegisteredExamples[i]);
+	}
 	
 	
 
diff --git a/examples/ExampleBrowser/OpenGLExampleBrowser.cpp b/examples/ExampleBrowser/OpenGLExampleBrowser.cpp
index 948bfac47..85bff6f12 100644
--- a/examples/ExampleBrowser/OpenGLExampleBrowser.cpp
+++ b/examples/ExampleBrowser/OpenGLExampleBrowser.cpp
@@ -724,6 +724,12 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
 	Gwen::Controls::TreeNode* curNode = tree;
 	MyMenuItemHander* handler2 = new MyMenuItemHander(-1);
 
+	char* demoNameFromCommandOption = 0;
+	args.GetCmdLineArgument("demo-name", demoNameFromCommandOption);
+	if (demoNameFromCommandOption) {
+		selectedDemo = -1;
+	}
+
 	tree->onReturnKeyDown.Add(handler2, &MyMenuItemHander::onButtonD);
 	int firstAvailableDemoIndex=-1;
 	Gwen::Controls::TreeNode* firstNode=0;
@@ -759,7 +765,10 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
 
 
 			}
-			
+			if (demoNameFromCommandOption && strcmp(gAllExamples->getExampleName(d), demoNameFromCommandOption) == 0) {
+				firstAvailableDemoIndex = d;
+				firstNode = pNode;
+			}
 
 			MyMenuItemHander* handler = new MyMenuItemHander(d);
 			pNode->onNamePress.Add(handler, &MyMenuItemHander::onButtonA);
diff --git a/examples/SharedMemory/PhysicsClient.cpp b/examples/SharedMemory/PhysicsClient.cpp
index a2e5cad1c..90c64a986 100644
--- a/examples/SharedMemory/PhysicsClient.cpp
+++ b/examples/SharedMemory/PhysicsClient.cpp
@@ -341,6 +341,13 @@ void	PhysicsClient::createClientCommand()
 						{
 							m_testBlock1->m_clientCommands[0].m_type =CMD_LOAD_URDF;
 							sprintf(m_testBlock1->m_clientCommands[0].m_urdfArguments.m_urdfFileName,"r2d2.urdf");
+							m_testBlock1->m_clientCommands[0].m_urdfArguments.m_initialPosition[0] = 0.0;
+							m_testBlock1->m_clientCommands[0].m_urdfArguments.m_initialPosition[1] = 0.0;
+							m_testBlock1->m_clientCommands[0].m_urdfArguments.m_initialPosition[2] = 0.0;
+							m_testBlock1->m_clientCommands[0].m_urdfArguments.m_initialOrientation[0] = 0.0;
+							m_testBlock1->m_clientCommands[0].m_urdfArguments.m_initialOrientation[1] = 0.0;
+							m_testBlock1->m_clientCommands[0].m_urdfArguments.m_initialOrientation[2] = 0.0;
+							m_testBlock1->m_clientCommands[0].m_urdfArguments.m_initialOrientation[3] = 1.0;
 							m_testBlock1->m_clientCommands[0].m_urdfArguments.m_useFixedBase = false;
 							m_testBlock1->m_clientCommands[0].m_urdfArguments.m_useMultiBody = true;
 
diff --git a/examples/SharedMemory/PhysicsServer.cpp b/examples/SharedMemory/PhysicsServer.cpp
index 42d7bf561..3258deae1 100644
--- a/examples/SharedMemory/PhysicsServer.cpp
+++ b/examples/SharedMemory/PhysicsServer.cpp
@@ -12,7 +12,7 @@
 #include "../Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.h"
 
 #include "SharedMemoryCommon.h"
-const char* blaatnaam = "basename";
+//const char* blaatnaam = "basename";
 struct UrdfLinkNameMapUtil
 {
 	btMultiBody* m_mb;
@@ -274,14 +274,19 @@ void	PhysicsServer::stepSimulation(float deltaTime)
 				}
                 case CMD_LOAD_URDF:
                 {
-                    b3Printf("Processed CMD_LOAD_URDF:%s",clientCmd.m_urdfArguments.m_urdfFileName);
-                    
-                    //load the actual URDF and send a report: completed or failed
+                    const UrdfArgs& urdfArgs = clientCmd.m_urdfArguments;
+                    b3Printf("Processed CMD_LOAD_URDF:%s", urdfArgs.m_urdfFileName);
 
-                    
-					
-                    bool completedOk = loadUrdf(clientCmd.m_urdfArguments.m_urdfFileName,
-                                               btVector3(0,0,0), btQuaternion(0,0,0,1),clientCmd.m_urdfArguments.m_useMultiBody,clientCmd.m_urdfArguments.m_useFixedBase);
+                    //load the actual URDF and send a report: completed or failed
+                    bool completedOk = loadUrdf(urdfArgs.m_urdfFileName,
+                                                btVector3(urdfArgs.m_initialPosition[0],
+                                                          urdfArgs.m_initialPosition[1],
+                                                          urdfArgs.m_initialPosition[2]),
+                                                btQuaternion(urdfArgs.m_initialOrientation[0],
+                                                             urdfArgs.m_initialOrientation[1],
+                                                             urdfArgs.m_initialOrientation[2],
+                                                             urdfArgs.m_initialOrientation[3]),
+                                                urdfArgs.m_useMultiBody, urdfArgs.m_useFixedBase);
                     SharedMemoryCommand& serverCmd =m_testBlock1->m_serverCommands[0];
  
                     if (completedOk)
diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h
index a0a950618..8e71cc3a3 100644
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -44,6 +44,8 @@ enum SharedMemoryClientCommand
 struct UrdfArgs
 {
     char m_urdfFileName[MAX_URDF_FILENAME_LENGTH];
+    double m_initialPosition[3];
+    double m_initialOrientation[4];
 	bool m_useMultiBody;
 	bool m_useFixedBase;
 };
diff --git a/src/BulletDynamics/Featherstone/btMultiBody.h b/src/BulletDynamics/Featherstone/btMultiBody.h
index 1d8c60610..0a2032113 100644
--- a/src/BulletDynamics/Featherstone/btMultiBody.h
+++ b/src/BulletDynamics/Featherstone/btMultiBody.h
@@ -65,7 +65,7 @@ public:
 			  );
 
 
-    ~btMultiBody();	
+	virtual ~btMultiBody();
     
 	void setupFixed(int linkIndex,
 						   btScalar mass,