diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
index c26d30184..243e1e55c 100644
--- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
+++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
@@ -15,7 +15,7 @@ class BulletURDFImporter : public URDFImporterInterface
 
 public:
 
-	BulletURDFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter, btScalar globalScaling);
+	BulletURDFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter, btScalar globalScaling=1);
 
 	virtual ~BulletURDFImporter();
 
diff --git a/examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp b/examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp
index 73c7e30e6..172a8dfb9 100644
--- a/examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp
+++ b/examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp
@@ -129,9 +129,9 @@ bool b3RobotSimulatorClientAPI::connect(int mode, const std::string& hostName, i
 			int argc = 0;
 			char* argv[1] = {0};
 #ifdef __APPLE__
-			sm = b3CreateInProcessPhysicsServerAndConnectMainThread(argc, argv,1);
+			sm = b3CreateInProcessPhysicsServerAndConnectMainThread(argc, argv);
 #else
-			sm = b3CreateInProcessPhysicsServerAndConnect(argc, argv,1);
+			sm = b3CreateInProcessPhysicsServerAndConnect(argc, argv);
 #endif
 			break;
 		}
@@ -140,9 +140,9 @@ bool b3RobotSimulatorClientAPI::connect(int mode, const std::string& hostName, i
 			int argc = 0;
 			char* argv[1] = {0};
 #ifdef __APPLE__
-			sm = b3CreateInProcessPhysicsServerAndConnectMainThread(argc, argv,0);
+			sm = b3CreateInProcessPhysicsServerAndConnectMainThread(argc, argv);
 #else
-			sm = b3CreateInProcessPhysicsServerAndConnect(argc, argv,0);
+			sm = b3CreateInProcessPhysicsServerAndConnect(argc, argv);
 #endif
 			break;
 		}
diff --git a/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp b/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
index 2def80e1c..8f01bfb5a 100644
--- a/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
+++ b/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
@@ -83,14 +83,24 @@ public:
     
 };
 
-b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectMainThread(int argc, char* argv[], int useInProcessMemory)
+b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectMainThread(int argc, char* argv[])
 {
-    InProcessPhysicsClientSharedMemoryMainThread* cl = new InProcessPhysicsClientSharedMemoryMainThread(argc, argv, useInProcessMemory);
+    InProcessPhysicsClientSharedMemoryMainThread* cl = new InProcessPhysicsClientSharedMemoryMainThread(argc, argv, 1);
     cl->setSharedMemoryKey(SHARED_MEMORY_KEY);
     cl->connect();
     return (b3PhysicsClientHandle ) cl;
 }
 
+b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectMainThreadSharedMemory(int argc, char* argv[])
+{
+    InProcessPhysicsClientSharedMemoryMainThread* cl = new InProcessPhysicsClientSharedMemoryMainThread(argc, argv, 0);
+    cl->setSharedMemoryKey(SHARED_MEMORY_KEY);
+    cl->connect();
+    return (b3PhysicsClientHandle ) cl;
+}
+
+
+
 class InProcessPhysicsClientSharedMemory : public PhysicsClientSharedMemory
 {
 	btInProcessExampleBrowserInternalData* m_data;
@@ -123,10 +133,18 @@ public:
 
 };
 
-b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnect(int argc, char* argv[], int useInProcessMemory)
+b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnect(int argc, char* argv[])
 {	
 	
-	InProcessPhysicsClientSharedMemory* cl = new InProcessPhysicsClientSharedMemory(argc, argv, useInProcessMemory);
+	InProcessPhysicsClientSharedMemory* cl = new InProcessPhysicsClientSharedMemory(argc, argv, 1);
+    cl->setSharedMemoryKey(SHARED_MEMORY_KEY+1);
+    cl->connect();
+	return (b3PhysicsClientHandle ) cl;
+}
+b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectSharedMemory(int argc, char* argv[])
+{	
+	
+	InProcessPhysicsClientSharedMemory* cl = new InProcessPhysicsClientSharedMemory(argc, argv, 0);
     cl->setSharedMemoryKey(SHARED_MEMORY_KEY+1);
     cl->connect();
 	return (b3PhysicsClientHandle ) cl;
diff --git a/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.h b/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.h
index 0bad1283a..04acba313 100644
--- a/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.h
+++ b/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.h
@@ -10,9 +10,11 @@ extern "C" {
 
 
 ///think more about naming. The b3ConnectPhysicsLoopback
-b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnect(int argc, char* argv[], int useInProcessMemory);
+b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnect(int argc, char* argv[]);
+b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectSharedMemory(int argc, char* argv[]);
 
-b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectMainThread(int argc, char* argv[], int useInProcessMemory);
+b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectMainThread(int argc, char* argv[]);
+b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectMainThreadSharedMemory(int argc, char* argv[]);
 
 b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect(void* guiHelperPtr);
 
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index f1f2b1996..6f791de14 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -355,9 +355,9 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
 				char* argv[2] = {"unused",options};
 
 #ifdef __APPLE__
-				sm = b3CreateInProcessPhysicsServerAndConnectMainThread(argc, argv,1);
+				sm = b3CreateInProcessPhysicsServerAndConnectMainThread(argc, argv);
 #else
-				sm = b3CreateInProcessPhysicsServerAndConnect(argc, argv,1);
+				sm = b3CreateInProcessPhysicsServerAndConnect(argc, argv);
 #endif
 				break;
 			}
@@ -367,9 +367,9 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
 				char* argv[2] = {"unused",options};
 
 #ifdef __APPLE__
-				sm = b3CreateInProcessPhysicsServerAndConnectMainThread(argc, argv,0);
+				sm = b3CreateInProcessPhysicsServerAndConnectMainThreadSharedMemory(argc, argv);
 #else
-				sm = b3CreateInProcessPhysicsServerAndConnect(argc, argv,0);
+				sm = b3CreateInProcessPhysicsServerAndConnectSharedMemory(argc, argv);
 #endif
 				break;
 			}