diff --git a/examples/CommonInterfaces/CommonGUIHelperInterface.h b/examples/CommonInterfaces/CommonGUIHelperInterface.h
index d7c4f536c..9171ed5c4 100644
--- a/examples/CommonInterfaces/CommonGUIHelperInterface.h
+++ b/examples/CommonInterfaces/CommonGUIHelperInterface.h
@@ -44,6 +44,7 @@ struct GUIHelperInterface
 
 	virtual int getShapeIndexFromInstance(int instanceUid){return -1;}	
 	virtual void replaceTexture(int shapeIndex, int textureUid){}
+	virtual void removeTexture(int textureUid) {}
 	
 	
 	virtual Common2dCanvasInterface* get2dCanvasInterface()=0;
diff --git a/examples/CommonInterfaces/CommonRenderInterface.h b/examples/CommonInterfaces/CommonRenderInterface.h
index d8c9e37ce..7696baf5a 100644
--- a/examples/CommonInterfaces/CommonRenderInterface.h
+++ b/examples/CommonInterfaces/CommonRenderInterface.h
@@ -72,6 +72,7 @@ struct CommonRenderInterface
     virtual void updateTexture(int textureIndex, const unsigned char* texels, bool flipPixelsY=true)=0;
     virtual void activateTexture(int textureIndex)=0;
 	virtual void replaceTexture(int shapeIndex, int textureIndex){};
+	virtual void removeTexture(int textureIndex) = 0;
 
 	virtual int getShapeIndexFromInstance(int srcIndex) {return -1;}
 
diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.cpp b/examples/ExampleBrowser/OpenGLGuiHelper.cpp
index 1c7daff79..5df588ec3 100644
--- a/examples/ExampleBrowser/OpenGLGuiHelper.cpp
+++ b/examples/ExampleBrowser/OpenGLGuiHelper.cpp
@@ -291,6 +291,15 @@ int	OpenGLGuiHelper::registerTexture(const unsigned char* texels, int width, int
 	return textureId;
 }
 
+
+void OpenGLGuiHelper::removeTexture(int textureUid)
+{
+	m_data->m_glApp->m_renderer->removeTexture(textureUid);
+}
+
+
+
+
 void OpenGLGuiHelper::changeTexture(int textureUniqueId, const unsigned char* rgbTexels, int width, int height)
 {
 	bool flipPixelsY = true;
diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.h b/examples/ExampleBrowser/OpenGLGuiHelper.h
index a2705fb38..319f2ed21 100644
--- a/examples/ExampleBrowser/OpenGLGuiHelper.h
+++ b/examples/ExampleBrowser/OpenGLGuiHelper.h
@@ -30,7 +30,7 @@ struct OpenGLGuiHelper : public GUIHelperInterface
 	virtual void changeRGBAColor(int instanceUid, const double rgbaColor[4]);
 	virtual void changeSpecularColor(int instanceUid, const double specularColor[3]);
 	virtual void changeTexture(int textureUniqueId, const unsigned char* rgbTexels, int width, int height);
-
+	virtual void removeTexture(int textureUid);
 	virtual int getShapeIndexFromInstance(int instanceUid);	
 	virtual void replaceTexture(int shapeIndex, int textureUid);
 
diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
index b5968490a..ce2129435 100644
--- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
+++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
@@ -48,6 +48,7 @@ ATTRIBUTE_ALIGNED16(struct) BulletURDFInternalData
 	int m_bodyId;
 	btHashMap<btHashInt,UrdfMaterialColor> m_linkColors;
     btAlignedObjectArray<btCollisionShape*> m_allocatedCollisionShapes;
+	btAlignedObjectArray<int> m_allocatedTextures;
 	mutable btAlignedObjectArray<btTriangleMesh*> m_allocatedMeshInterfaces;
 	btHashMap<btHashPtr, UrdfCollision> m_bulletCollisionShape2UrdfCollision;
 
@@ -1163,6 +1164,10 @@ int BulletURDFImporter::convertLinkVisualShapes(int linkIndex, const char* pathP
 			{
 				
 				textureIndex = m_data->m_guiHelper->registerTexture(textures[0].textureData1,textures[0].m_width,textures[0].m_height);
+				if (textureIndex >= 0)
+				{
+					m_data->m_allocatedTextures.push_back(textureIndex);
+				}
 			}
 			{
 				B3_PROFILE("registerGraphicsShape");
@@ -1270,11 +1275,22 @@ int BulletURDFImporter::getNumAllocatedMeshInterfaces() const
 }
 
 
+
 btStridingMeshInterface* BulletURDFImporter::getAllocatedMeshInterface(int index)
 {
     return m_data->m_allocatedMeshInterfaces[index];
 }
 
+int BulletURDFImporter::getNumAllocatedTextures() const
+{
+	return m_data->m_allocatedTextures.size();
+}
+
+int BulletURDFImporter::getAllocatedTexture(int index) const
+{
+	return m_data->m_allocatedTextures[index];
+}
+
 
 
  class btCompoundShape* BulletURDFImporter::convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const
diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
index a74fb5117..7de13f35d 100644
--- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
+++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
@@ -84,6 +84,9 @@ public:
 	virtual int getNumAllocatedMeshInterfaces() const;
 	virtual class btStridingMeshInterface* getAllocatedMeshInterface(int index);
 
+	virtual int getNumAllocatedTextures() const;
+	virtual int getAllocatedTexture(int index) const;
+	
 	virtual void setEnableTinyRenderer(bool enable);
 	void convertURDFToVisualShapeInternal(const struct UrdfVisual* visual, const char* urdfPathPrefix, const class btTransform& visualTransform, btAlignedObjectArray<struct GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<struct BulletURDFTexture>& texturesOut) const;
 
diff --git a/examples/Importers/ImportURDFDemo/URDFImporterInterface.h b/examples/Importers/ImportURDFDemo/URDFImporterInterface.h
index 7d99df01d..581c55fc8 100644
--- a/examples/Importers/ImportURDFDemo/URDFImporterInterface.h
+++ b/examples/Importers/ImportURDFDemo/URDFImporterInterface.h
@@ -85,6 +85,10 @@ public:
 	virtual int getNumModels() const {return 0;}
     virtual void activateModel(int /*modelIndex*/) { }
 	virtual int getNumAllocatedMeshInterfaces() const { return 0;}
+
+	virtual int getNumAllocatedTextures() const { return 0; }
+	virtual int getAllocatedTexture(int index) const { return 0; }
+
 	virtual class btStridingMeshInterface* getAllocatedMeshInterface(int index) {return 0;}
 
 };
diff --git a/examples/OpenGLWindow/GLInstancingRenderer.cpp b/examples/OpenGLWindow/GLInstancingRenderer.cpp
index 98b8db58d..deb658500 100644
--- a/examples/OpenGLWindow/GLInstancingRenderer.cpp
+++ b/examples/OpenGLWindow/GLInstancingRenderer.cpp
@@ -944,9 +944,18 @@ int GLInstancingRenderer::registerGraphicsInstance(int shapeIndex, const float*
 	return newUid;
 }
 
+void GLInstancingRenderer::removeTexture(int textureIndex)
+{
+	if ((textureIndex >= 0) && (textureIndex < m_data->m_textureHandles.size()))
+	{
+		InternalTextureHandle& h = m_data->m_textureHandles[textureIndex];
+		glDeleteTextures(1, &h.m_glTexture);
+	}
+}
 
 int	GLInstancingRenderer::registerTexture(const unsigned char* texels, int width, int height, bool flipPixelsY)
 {
+	
 	B3_PROFILE("GLInstancingRenderer::registerTexture");
 	b3Assert(glGetError() ==GL_NO_ERROR);
 	glActiveTexture(GL_TEXTURE0);
diff --git a/examples/OpenGLWindow/GLInstancingRenderer.h b/examples/OpenGLWindow/GLInstancingRenderer.h
index 528da0370..073c05349 100644
--- a/examples/OpenGLWindow/GLInstancingRenderer.h
+++ b/examples/OpenGLWindow/GLInstancingRenderer.h
@@ -69,6 +69,7 @@ public:
     virtual void activateTexture(int textureIndex);
 	virtual void replaceTexture(int shapeIndex, int textureId);
 	virtual int getShapeIndexFromInstance(int srcIndex);
+	virtual void removeTexture(int textureIndex);
 
 	///position x,y,z, quaternion x,y,z,w, color r,g,b,a, scaling x,y,z
 	virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling);
diff --git a/examples/OpenGLWindow/SimpleOpenGL2App.cpp b/examples/OpenGLWindow/SimpleOpenGL2App.cpp
index a394c125f..381edd628 100644
--- a/examples/OpenGLWindow/SimpleOpenGL2App.cpp
+++ b/examples/OpenGLWindow/SimpleOpenGL2App.cpp
@@ -44,7 +44,7 @@ static SimpleOpenGL2App* gApp2=0;
 
 static void Simple2ResizeCallback( float widthf, float heightf)
 {
-	glViewport(0, 0, widthf, heightf);
+	
 
 	int width = (int)widthf;
 	int height = (int)heightf;
diff --git a/examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp b/examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp
index 6431789b2..29d3c3d4b 100644
--- a/examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp
+++ b/examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp
@@ -460,6 +460,14 @@ void    SimpleOpenGL2Renderer::updateTexture(int textureIndex, const unsigned ch
     }
 }
 
+void SimpleOpenGL2Renderer::removeTexture(int textureIndex)
+{
+	if ((textureIndex >= 0) && (textureIndex < m_data->m_textureHandles.size()))
+	{
+		glDeleteTextures(1, &m_data->m_textureHandles[textureIndex].m_glTexture);
+	}
+	
+}
 void SimpleOpenGL2Renderer::activateTexture(int textureIndex)
 {
     glActiveTexture(GL_TEXTURE0);
diff --git a/examples/OpenGLWindow/SimpleOpenGL2Renderer.h b/examples/OpenGLWindow/SimpleOpenGL2Renderer.h
index f57c98a03..b126750d9 100644
--- a/examples/OpenGLWindow/SimpleOpenGL2Renderer.h
+++ b/examples/OpenGLWindow/SimpleOpenGL2Renderer.h
@@ -55,7 +55,7 @@ public:
 	virtual int	registerTexture(const unsigned char* texels, int width, int height, bool flipTexelsY);
 	virtual void	updateTexture(int textureIndex, const unsigned char* texels, bool flipTexelsY);
     virtual void	activateTexture(int textureIndex);
-
+	virtual void removeTexture(int textureIndex);
 
     virtual int registerGraphicsInstance(int shapeIndex, const double* position, const double* quaternion, const double* color, const double* scaling);
     
diff --git a/examples/OpenGLWindow/Win32Window.cpp b/examples/OpenGLWindow/Win32Window.cpp
index d49ee24f7..715d421df 100644
--- a/examples/OpenGLWindow/Win32Window.cpp
+++ b/examples/OpenGLWindow/Win32Window.cpp
@@ -413,10 +413,13 @@ LRESULT CALLBACK WndProc(HWND hWnd, UINT message, WPARAM wParam, LPARAM lParam)
 					sData->m_fullWindowHeight = wr.bottom-wr.top;//LOWORD (lParam) HIWORD (lParam);
 					sData->m_openglViewportWidth = clientRect.right;
 					sData->m_openglViewportHeight = clientRect.bottom;
-					//glViewport(0, 0, sData->m_openglViewportWidth, sData->m_openglViewportHeight);
+					
 
 					if (sData->m_resizeCallback)
-						(*sData->m_resizeCallback)(sData->m_openglViewportWidth,sData->m_openglViewportHeight);
+					{
+						glViewport(0, 0, sData->m_openglViewportWidth, sData->m_openglViewportHeight);
+						(*sData->m_resizeCallback)(sData->m_openglViewportWidth, sData->m_openglViewportHeight);
+					}
 					//if (sOpenGLInitialized)
 					//{
 					//	//gDemoApplication->reshape(sWidth,sHeight);
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 9e2a2745f..5c89ea86a 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -190,6 +190,7 @@ struct InternalBodyData
 	btAlignedObjectArray<std::string> m_rigidBodyJointNames;
 	btAlignedObjectArray<std::string> m_rigidBodyLinkNames;
 	
+	
 #ifdef B3_ENABLE_TINY_AUDIO
 	b3HashMap<btHashInt, SDFAudioSource> m_audioSources;
 #endif //B3_ENABLE_TINY_AUDIO
@@ -1525,6 +1526,7 @@ struct PhysicsServerCommandProcessorInternalData
 	btAlignedObjectArray<std::string*> m_strings;
 
 	btAlignedObjectArray<btCollisionShape*>	m_collisionShapes;
+	btAlignedObjectArray<int> m_allocatedTextures;
 	btHashMap<btHashPtr, UrdfCollision> m_bulletCollisionShape2UrdfCollision;
 	btAlignedObjectArray<btStridingMeshInterface*> m_meshInterfaces;
 
@@ -2431,6 +2433,16 @@ void PhysicsServerCommandProcessor::deleteDynamicsWorld()
 	{
 		delete m_data->m_meshInterfaces[j];
 	}
+
+	if (m_data->m_guiHelper)
+	{
+		for (int j = 0; j < m_data->m_allocatedTextures.size(); j++)
+		{
+			int texId = m_data->m_allocatedTextures[j];
+			m_data->m_guiHelper->removeTexture(texId);
+		}
+	}
+	m_data->m_allocatedTextures.clear();
 	m_data->m_meshInterfaces.clear();
 	m_data->m_collisionShapes.clear();
 	m_data->m_bulletCollisionShape2UrdfCollision.clear();
@@ -2667,6 +2679,15 @@ bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName,
 
     }
 
+	
+	for (int i = 0; i < u2b.getNumAllocatedTextures(); i++)
+	{
+		int texId = u2b.getAllocatedTexture(i);
+		m_data->m_allocatedTextures.push_back(texId);
+	}
+		
+
+
 	for (int i=0;i<u2b.getNumAllocatedMeshInterfaces();i++)
 	{
 		m_data->m_meshInterfaces.push_back(u2b.getAllocatedMeshInterface(i));
diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp
index 639fc546e..ab592b908 100644
--- a/examples/SharedMemory/PhysicsServerExample.cpp
+++ b/examples/SharedMemory/PhysicsServerExample.cpp
@@ -135,6 +135,7 @@ enum MultiThreadedGUIHelperCommunicationEnums
 	eGUIHelperChangeGraphicsInstanceTextureId,
 	eGUIHelperGetShapeIndexFromInstance,
 	eGUIHelperChangeTexture,
+	eGUIHelperRemoveTexture,
 };
 
 
@@ -859,6 +860,17 @@ public:
 		//m_childGuiHelper->createPhysicsDebugDrawer(rbWorld);
 	}
 
+	int m_removeTextureUid;
+
+	virtual void removeTexture(int textureUid)
+	{
+		m_removeTextureUid = textureUid;
+		m_cs->lock();
+		m_cs->setSharedParam(1, eGUIHelperRemoveTexture);
+
+		workerThreadWait();
+	}
+
 	virtual int	registerTexture(const unsigned char* texels, int width, int height)
 	{
 		m_texels = texels;
@@ -1878,6 +1890,13 @@ void	PhysicsServerExample::updateGraphics()
 		m_multiThreadedHelper->mainThreadRelease();
 		break;
 	}
+	case eGUIHelperRemoveTexture:
+	{
+		B3_PROFILE("eGUIHelperRemoveTexture");
+		m_multiThreadedHelper->m_childGuiHelper->removeTexture(m_multiThreadedHelper->m_removeTextureUid);
+		m_multiThreadedHelper->mainThreadRelease();
+		break;
+	}
 	case eGUIHelperRegisterGraphicsShape:
 	{
 		B3_PROFILE("eGUIHelperRegisterGraphicsShape");
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 0fd41f4bd..f2caf44bd 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -1,3 +1,5 @@
+#include "E:\develop\VisualLeakDetector\include\vld.h"
+
 #include "../SharedMemory/PhysicsClientC_API.h"
 #include "../SharedMemory/PhysicsDirectC_API.h"
 #include "../SharedMemory/SharedMemoryInProcessPhysicsC_API.h"