diff --git a/build3/premake4.lua b/build3/premake4.lua
index df5f414bf..80107caa6 100644
--- a/build3/premake4.lua
+++ b/build3/premake4.lua
@@ -78,8 +78,8 @@
 	configuration "Debug"
 		defines {"_DEBUG=1"}
 		flags { "Symbols", "StaticRuntime" , "NoMinimalRebuild", "NoEditAndContinue" ,"FloatFast"}
-
-	if os.is("Linux") then
+	
+	if os.is("Linux") or os.is("macosx") then
 		if os.is64bit() then
 			platforms {"x64"}
 		else
diff --git a/examples/ExampleBrowser/GwenGUISupport/gwenUserInterface.cpp b/examples/ExampleBrowser/GwenGUISupport/gwenUserInterface.cpp
index 9ed77f16d..be37e7837 100644
--- a/examples/ExampleBrowser/GwenGUISupport/gwenUserInterface.cpp
+++ b/examples/ExampleBrowser/GwenGUISupport/gwenUserInterface.cpp
@@ -42,13 +42,17 @@ class MyMenuItems :  public Gwen::Controls::Base
 public:
 
     b3FileOpenCallback m_fileOpenCallback;
+    b3QuitCallback m_quitCallback;
     
     MyMenuItems() :Gwen::Controls::Base(0),m_fileOpenCallback(0)
     {
     }
     void myQuitApp( Gwen::Controls::Base* pControl )
     {
-        exit(0);
+        if (m_quitCallback)
+        {
+            (*m_quitCallback)();
+        }
     }
     void fileOpen( Gwen::Controls::Base* pControl )
     {
@@ -74,7 +78,8 @@ struct MyTestMenuBar : public Gwen::Controls::MenuStrip
 		{
 			m_menuItems = new MyMenuItems();
             m_menuItems->m_fileOpenCallback = 0;
-
+            m_menuItems->m_quitCallback = 0;
+            
 			m_fileMenu = AddItem( L"File" );
 			
             m_fileMenu->GetMenu()->AddItem(L"Open",m_menuItems,(Gwen::Event::Handler::Function)&MyMenuItems::fileOpen);
@@ -230,6 +235,11 @@ void GwenUserInterface::registerFileOpenCallback(b3FileOpenCallback callback)
     m_data->m_menuItems->m_fileOpenCallback = callback;
 }
 
+void GwenUserInterface::registerQuitCallback(b3QuitCallback callback)
+{
+    m_data->m_menuItems->m_quitCallback = callback;
+}
+
 void	GwenUserInterface::init(int width, int height,Gwen::Renderer::Base* renderer,float retinaScale)
 {
 	m_data->m_curYposition = 20;
diff --git a/examples/ExampleBrowser/GwenGUISupport/gwenUserInterface.h b/examples/ExampleBrowser/GwenGUISupport/gwenUserInterface.h
index ce2c3bafe..15e4eb0d5 100644
--- a/examples/ExampleBrowser/GwenGUISupport/gwenUserInterface.h
+++ b/examples/ExampleBrowser/GwenGUISupport/gwenUserInterface.h
@@ -6,6 +6,7 @@ struct GwenInternalData;
 typedef void (*b3ComboBoxCallback) (int combobox, const char* item);
 typedef void (*b3ToggleButtonCallback)(int button, int state);
 typedef void (*b3FileOpenCallback)();
+typedef void (*b3QuitCallback)();
 
 namespace Gwen
 {
@@ -53,6 +54,7 @@ class GwenUserInterface
 		
 
         void    registerFileOpenCallback(b3FileOpenCallback callback);
+        void    registerQuitCallback(b3QuitCallback callback);
     
 		GwenInternalData* getInternalData()
 		{
diff --git a/examples/ExampleBrowser/OpenGLExampleBrowser.cpp b/examples/ExampleBrowser/OpenGLExampleBrowser.cpp
index 773813a73..6b682e0fd 100644
--- a/examples/ExampleBrowser/OpenGLExampleBrowser.cpp
+++ b/examples/ExampleBrowser/OpenGLExampleBrowser.cpp
@@ -88,7 +88,18 @@ int gGpuArraySizeZ=15;
 
 
 
-
+void deleteDemo()
+{
+    if (sCurrentDemo)
+	{
+		sCurrentDemo->exitPhysics();
+		s_instancingRenderer->removeAllInstances();
+		delete sCurrentDemo;
+		sCurrentDemo=0;
+		delete s_guiHelper;
+		s_guiHelper = 0;
+	}
+}
 
 
 b3KeyboardCallback prevKeyboardCallback = 0;
@@ -163,6 +174,7 @@ void MyKeyboardCallback(int key, int state)
 #endif
 	if (key==B3G_ESCAPE && s_window)
 	{
+        
 		s_window->setRequestExit();
 	}
 
@@ -270,15 +282,8 @@ void selectDemo(int demoIndex)
 	{
 		demoIndex = 0;
 	}
-	if (sCurrentDemo)
-	{
-		sCurrentDemo->exitPhysics();
-		s_instancingRenderer->removeAllInstances();
-		delete sCurrentDemo;
-		sCurrentDemo=0;
-		delete s_guiHelper;
-		s_guiHelper = 0;
-	}
+	deleteDemo();
+    
 	CommonExampleInterface::CreateFunc* func = gAllExamples->getExampleCreateFunc(demoIndex);
 	if (func)
 	{
@@ -495,6 +500,12 @@ struct GL3TexLoader : public MyTextureLoader
 	}
 };
 
+void quitCallback()
+{
+   
+    s_window->setRequestExit();
+}
+
 void fileOpenCallback()
 {
 
@@ -581,6 +592,7 @@ OpenGLExampleBrowser::OpenGLExampleBrowser(class ExampleEntries* examples)
 
 OpenGLExampleBrowser::~OpenGLExampleBrowser()
 {
+    deleteDemo();
 	gAllExamples = 0;
 }
 
@@ -790,7 +802,7 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
 	}
 	
     gui->registerFileOpenCallback(fileOpenCallback);
-	
+	gui->registerQuitCallback(quitCallback);
     
 	return true;
 }
diff --git a/examples/OpenGLWindow/MacOpenGLWindow.mm b/examples/OpenGLWindow/MacOpenGLWindow.mm
index 0f8f62f31..71c73571a 100644
--- a/examples/OpenGLWindow/MacOpenGLWindow.mm
+++ b/examples/OpenGLWindow/MacOpenGLWindow.mm
@@ -48,6 +48,7 @@ void dumpInfo(void)
     NSOpenGLContext* m_context;
     int m_lastWidth;
     int m_lastHeight;
+    bool m_requestClose;
     b3ResizeCallback    m_resizeCallback;
 
 }
@@ -56,6 +57,8 @@ void dumpInfo(void)
 -(void) MakeCurrent;
 -(float) GetWindowWidth;
 -(float) GetWindowHeight;
+-(BOOL) GetRequestClose;
+- (BOOL)windowShouldClose:(id)sender;
 -(void) setResizeCallback:(b3ResizeCallback) callback;
 -(b3ResizeCallback) getResizeCallback;
 -(NSOpenGLContext*) getContext;
@@ -67,6 +70,15 @@ float loop;
 
 @implementation TestView
 
+- (BOOL)windowShouldClose:(id)sender
+{
+    m_requestClose = true;
+    return false;
+}
+-(BOOL) GetRequestClose
+{
+    return m_requestClose;
+}
 -(float) GetWindowWidth
 {
     return m_lastWidth;
@@ -140,7 +152,7 @@ float loop;
     //	NSWindow *w;
 	NSOpenGLPixelFormat *fmt;
     
-	
+	m_requestClose = false;
 
 	
 	
@@ -775,7 +787,6 @@ void MacOpenGLWindow::startRendering()
         
 		//NSShiftKeyMask              = 1 << 17,
 		//NSControlKeyMask
-		
 	
 		if ([event type] == NSFlagsChanged)
 		{
@@ -1050,7 +1061,8 @@ void MacOpenGLWindow::endRendering()
 
 bool MacOpenGLWindow::requestedExit() const
 {
-    return m_internalData->m_exitRequested;   
+    bool closeme = m_internalData->m_myview.GetRequestClose;
+    return m_internalData->m_exitRequested || closeme;
 }
 
 void MacOpenGLWindow::setRequestExit()
diff --git a/examples/SharedMemory/PhysicsClient.cpp b/examples/SharedMemory/PhysicsClient.cpp
index 26cd59733..3b005898d 100644
--- a/examples/SharedMemory/PhysicsClient.cpp
+++ b/examples/SharedMemory/PhysicsClient.cpp
@@ -3,11 +3,14 @@
 
 #include "../CommonInterfaces/CommonMultiBodyBase.h"
 #include "PosixSharedMemory.h"
+#include "SharedMemoryCommon.h"
 
-class PhysicsClient : public CommonMultiBodyBase
+class PhysicsClient : public SharedMemoryCommon
 {
 	SharedMemoryInterface* m_sharedMemory;
 	SharedMemoryExampleData*   m_testBlock1;
+    int m_counter;
+    bool m_wantsTermination;
     
 public:
     
@@ -27,11 +30,17 @@ public:
 		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
 	}
     
+    virtual bool wantsTermination()
+    {
+        return m_wantsTermination;
+    }
 };
 
 PhysicsClient::PhysicsClient(GUIHelperInterface* helper)
-:CommonMultiBodyBase(helper),
-m_testBlock1(0)
+:SharedMemoryCommon(helper),
+m_testBlock1(0),
+m_counter(0),
+m_wantsTermination(false)
 {
 	b3Printf("Started PhysicsClient");
 	m_sharedMemory = new PosixSharedMemory();
@@ -55,6 +64,15 @@ void	PhysicsClient::initPhysics()
             b3Error("Error: please start server before client");
             m_sharedMemory->releaseSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE);
             m_testBlock1 = 0;
+            
+        } else
+        {
+            //submit a 'load urdf' command to get things started
+            
+            b3Printf("Client created CMD_LOAD_URDF");
+            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_numClientCommands++;
         }
     }
     
@@ -63,20 +81,60 @@ void	PhysicsClient::initPhysics()
 void	PhysicsClient::stepSimulation(float deltaTime)
 {
     
-    static int once = true;
     
     if (m_testBlock1)
     {
-        if (once)
-        {
-            once=false;
+        //check progress and submit further commands
+        //we ignore overflow right now
         
-            b3Printf("Client created CMD_LOAD_URDF");
-            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_numClientCommands++;
+        if (m_testBlock1->m_numServerCommands> m_testBlock1->m_numProcessedServerCommands)
+        {
+            btAssert(m_testBlock1->m_numServerCommands==m_testBlock1->m_numProcessedServerCommands+1);
+        
+            const SharedMemoryCommand& serverCmd =m_testBlock1->m_serverCommands[0];
+            
+            //consume the command
+            switch (serverCmd.m_type)
+            {
+
+                case CMD_STEP_FORWARD_SIMULATION_COMPLETED:
+                case CMD_URDF_LOADING_COMPLETED:
+                {
+                    //submit a 'step simulation' request
+                    
+                    if (m_counter<10)
+                    {
+                        m_testBlock1->m_clientCommands[0].m_type =CMD_STEP_FORWARD_SIMULATION;
+                        m_testBlock1->m_clientCommands[0].m_stepSimulationArguments.m_deltaTimeInSeconds = 1./60.;
+                        m_testBlock1->m_numClientCommands++;
+                        m_counter++;
+                        
+                    } else
+                    {
+                        m_wantsTermination = true;
+                        m_testBlock1->m_clientCommands[0].m_type =CMD_SHUTDOWN;
+                        m_testBlock1->m_numClientCommands++;
+                    }
+                    
+                    break;
+                }
+                case CMD_URDF_LOADING_FAILED:
+                {
+                    b3Printf("Server failed loading the URDF...");
+                    break;
+                }
+                default:
+                {
+                    b3Error("Unknown server command");
+                    btAssert(0);
+                }
+            };
+            m_testBlock1->m_numProcessedServerCommands++;
         }
+        
     }
+    
+    
 
 }
 
diff --git a/examples/SharedMemory/PhysicsServer.cpp b/examples/SharedMemory/PhysicsServer.cpp
index f19fdf991..a3595e548 100644
--- a/examples/SharedMemory/PhysicsServer.cpp
+++ b/examples/SharedMemory/PhysicsServer.cpp
@@ -1,20 +1,20 @@
 
 #include "PhysicsServer.h"
 
-#include "../CommonInterfaces/CommonMultiBodyBase.h"
 #include "PosixSharedMemory.h"
 #include "../Importers/ImportURDFDemo/MyURDFImporter.h"
 #include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
 #include "../Importers/ImportURDFDemo/URDF2Bullet.h"
 
+#include "SharedMemoryCommon.h"
 
 
-
-class PhysicsServer : public CommonMultiBodyBase
+class PhysicsServer : public SharedMemoryCommon
 {
 	SharedMemoryInterface* m_sharedMemory;
     SharedMemoryExampleData* m_testBlock1;
-	
+	bool m_wantsShutdown;
+
 public:
     
 	PhysicsServer(GUIHelperInterface* helper);
@@ -25,6 +25,8 @@ public:
     
 	virtual void	stepSimulation(float deltaTime);
     
+    void releaseSharedMemory();
+    
     bool loadUrdf(const char* fileName, const btVector3& pos, const btQuaternion& orn,
                   bool useMultiBody, bool useFixedBase);
     
@@ -37,25 +39,39 @@ public:
 		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
 	}
     
+    virtual bool wantsTermination();
 };
 
 PhysicsServer::PhysicsServer(GUIHelperInterface* helper)
-:CommonMultiBodyBase(helper),
-m_testBlock1(0)
+:SharedMemoryCommon(helper),
+m_testBlock1(0),
+m_wantsShutdown(false)
 {
 	b3Printf("Started PhysicsServer\n");
 	m_sharedMemory = new PosixSharedMemory();
 }
 
-PhysicsServer::~PhysicsServer()
+void PhysicsServer::releaseSharedMemory()
 {
     if (m_testBlock1)
     {
         m_testBlock1->m_magicId = 0;
         b3Printf("magic id = %d\n",m_testBlock1->m_magicId);
+        btAssert(m_sharedMemory);
+        m_sharedMemory->releaseSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE);
     }
-    m_sharedMemory->releaseSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE);
-	delete m_sharedMemory;    
+    if (m_sharedMemory)
+    {
+
+        delete m_sharedMemory;
+        m_sharedMemory = 0;
+        m_testBlock1 = 0;
+    }
+}
+
+PhysicsServer::~PhysicsServer()
+{
+    releaseSharedMemory();
 }
 
 void	PhysicsServer::initPhysics()
@@ -86,6 +102,12 @@ void	PhysicsServer::initPhysics()
     }
 }
 
+
+bool PhysicsServer::wantsTermination()
+{
+    return m_wantsShutdown;
+}
+
 bool PhysicsServer::loadUrdf(const char* fileName, const btVector3& pos, const btQuaternion& orn,
                              bool useMultiBody, bool useFixedBase)
 {
@@ -103,17 +125,21 @@ bool PhysicsServer::loadUrdf(const char* fileName, const btVector3& pos, const b
         int rootLinkIndex = u2b.getRootLinkIndex();
         //                      printf("urdf root link index = %d\n",rootLinkIndex);
         MyMultiBodyCreator creation(m_guiHelper);
-        bool m_useMultiBody = true;
+        
         ConvertURDF2Bullet(u2b,creation, tr,m_dynamicsWorld,useMultiBody,u2b.getPathPrefix());
         btMultiBody* mb = creation.getBulletMultiBody();
 
-        return false;
+        return true;
     }
+    
+    return false;
 }
 
 void	PhysicsServer::stepSimulation(float deltaTime)
 {
 
+    bool wantsShutdown = false;
+    
     if (m_testBlock1)
     {
         ///we ignore overflow of integer for now
@@ -124,6 +150,7 @@ void	PhysicsServer::stepSimulation(float deltaTime)
             btAssert(m_testBlock1->m_numClientCommands==m_testBlock1->m_numProcessedClientCommands+1);
             
             const SharedMemoryCommand& clientCmd =m_testBlock1->m_clientCommands[0];
+             m_testBlock1->m_numProcessedClientCommands++;
             
             //consume the command
             switch (clientCmd.m_type)
@@ -148,19 +175,45 @@ void	PhysicsServer::stepSimulation(float deltaTime)
                     
                     }
                     m_testBlock1->m_numServerCommands++;
+                    break;
+                }
+                case CMD_STEP_FORWARD_SIMULATION:
+                {
+                   
+                    b3Printf("Step simulation request");
+                    double timeStep = clientCmd.m_stepSimulationArguments.m_deltaTimeInSeconds;
+                    m_dynamicsWorld->stepSimulation(timeStep);
+                    
+                    SharedMemoryCommand& serverCmd =m_testBlock1->m_serverCommands[0];
+                    
+                    serverCmd.m_type =CMD_STEP_FORWARD_SIMULATION_COMPLETED;
+                    m_testBlock1->m_numServerCommands++;
+ 
+                    break;
+                }
+                case CMD_SHUTDOWN:
+                {
+                    wantsShutdown = true;
+                    break;
                 }
                 default:
                 {
-                
+                    b3Error("Unsupported command encountered");
+                    btAssert(0);
                 }
             };
             
-            m_testBlock1->m_numProcessedClientCommands++;
+           
             
             //process the command right now
             
         }
     }
+    if (wantsShutdown)
+    {
+        m_wantsShutdown = true;
+        releaseSharedMemory();
+    }
 }
 
 
diff --git a/examples/SharedMemory/SharedMemoryInterface.h b/examples/SharedMemory/SharedMemoryInterface.h
index 42ee4d516..cd060788d 100644
--- a/examples/SharedMemory/SharedMemoryInterface.h
+++ b/examples/SharedMemory/SharedMemoryInterface.h
@@ -18,6 +18,7 @@ enum SharedMemoryClientCommand{
     CMD_LOAD_URDF,
     CMD_STATE_UPDATED,
     CMD_STEP_FORWARD_SIMULATION, //includes CMD_REQUEST_STATE
+    CMD_SHUTDOWN,
     CMD_MAX_CLIENT_COMMANDS
 };
 
diff --git a/examples/SharedMemory/main.cpp b/examples/SharedMemory/main.cpp
index 7990b1b14..778a0554f 100644
--- a/examples/SharedMemory/main.cpp
+++ b/examples/SharedMemory/main.cpp
@@ -20,8 +20,7 @@ subject to the following restrictions:
 
 #include "../CommonInterfaces/CommonExampleInterface.h"
 #include "../CommonInterfaces/CommonGUIHelperInterface.h"
-
-
+#include "SharedMemoryCommon.h"
 
 
 int main(int argc, char* argv[])
@@ -33,18 +32,22 @@ int main(int argc, char* argv[])
 	DummyGUIHelper noGfx;
 
 	CommonExampleOptions options(&noGfx);
-	CommonExampleInterface*    example = 0;
+	SharedMemoryCommon*    example = 0;
 
   	if (args.CheckCmdLineFlag("client"))
         {
-		example = PhysicsClientCreateFunc(options);
+		example = (SharedMemoryCommon*)PhysicsClientCreateFunc(options);
         }else
         {
-		example = PhysicsServerCreateFunc(options);
+		example = (SharedMemoryCommon*)PhysicsServerCreateFunc(options);
         }
 	
 	example->initPhysics();
-	example->stepSimulation(1.f/60.f);
+	while (!example->wantsTermination())
+	{
+		example->stepSimulation(1.f/60.f);
+	}	
+
 	example->exitPhysics();
 
 	delete example;
diff --git a/src/Bullet3Common/b3Logging.cpp b/src/Bullet3Common/b3Logging.cpp
index 8a0cf26c1..a8e950715 100644
--- a/src/Bullet3Common/b3Logging.cpp
+++ b/src/Bullet3Common/b3Logging.cpp
@@ -29,7 +29,8 @@ void b3PrintfFuncDefault(const char* msg)
 	OutputDebugStringA(msg);
 #endif
 	printf("%s",msg);
-
+    //is this portable?
+    fflush(stdout);
 }
 
 void b3WarningMessageFuncDefault(const char* msg)
@@ -38,7 +39,8 @@ void b3WarningMessageFuncDefault(const char* msg)
 	OutputDebugStringA(msg);
 #endif
 	printf("%s",msg);
-
+    //is this portable?
+    fflush(stdout);
 
 }
 
@@ -49,6 +51,9 @@ void b3ErrorMessageFuncDefault(const char* msg)
 	OutputDebugStringA(msg);
 #endif
 	printf("%s",msg);
+
+    //is this portable?
+    fflush(stdout);
     
 }