diff --git a/examples/ExampleBrowser/ExampleEntries.cpp b/examples/ExampleBrowser/ExampleEntries.cpp
index 17b920fa9..e6f84bab3 100644
--- a/examples/ExampleBrowser/ExampleEntries.cpp
+++ b/examples/ExampleBrowser/ExampleEntries.cpp
@@ -215,6 +215,11 @@ static ExampleEntry gDefaultExamples[]=
 	
 	ExampleEntry(1,"Physics Server", "Create a physics server that communicates with a physics client over shared memory",
 			PhysicsServerCreateFunc),
+	ExampleEntry(1,"Physics Server (Logging)", "Create a physics server that communicates with a physics client over shared memory. It will log all commands to a file.",
+			PhysicsServerCreateFunc,PHYSICS_SERVER_ENABLE_COMMAND_LOGGING),
+	ExampleEntry(1,"Physics Server (Replay Log)", "Create a physics server that replay a command log from disk.",
+			PhysicsServerCreateFunc,PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG),
+
 	ExampleEntry(1, "Physics Client", "Create a physics client that can communicate with a physics server over shared memory", PhysicsClientCreateFunc),
 #ifdef ENABLE_LUA
 	ExampleEntry(1,"Lua Script", "Create the dynamics world, collision shapes and rigid bodies using Lua scripting",
diff --git a/examples/ExampleBrowser/OpenGLExampleBrowser.cpp b/examples/ExampleBrowser/OpenGLExampleBrowser.cpp
index 66b64e99e..bc3356380 100644
--- a/examples/ExampleBrowser/OpenGLExampleBrowser.cpp
+++ b/examples/ExampleBrowser/OpenGLExampleBrowser.cpp
@@ -71,6 +71,7 @@ extern bool useShadowMap;
 static bool visualWireframe=false;
 static bool renderVisualGeometry=true;
 static bool renderGrid = true;
+static bool renderGui = true;
 static bool enable_experimental_opencl = false;
 
 int gDebugDrawFlags = 0;
@@ -170,6 +171,7 @@ void MyKeyboardCallback(int key, int state)
 	if (key=='g' && state)
 	{
 		renderGrid = !renderGrid;
+		renderGui = !renderGui;
 	}
 
 
@@ -1041,7 +1043,7 @@ void OpenGLExampleBrowser::update(float deltaTime)
 		}
 
 		static int toggle = 1;
-		if (renderGrid)
+		if (renderGui)
 		{
             if (!pauseSimulation)
                 processProfileData(s_profWindow,false);
diff --git a/examples/SharedMemory/PhysicsServer.cpp b/examples/SharedMemory/PhysicsServer.cpp
index 154249c39..7218f0ae3 100644
--- a/examples/SharedMemory/PhysicsServer.cpp
+++ b/examples/SharedMemory/PhysicsServer.cpp
@@ -108,18 +108,82 @@ struct InternalBodyHandle : public InteralBodyData
 		return m_nextFreeHandle;
 	}
 };
+
+class btCommandChunk
+{
+public:
+	int		m_chunkCode;
+	int		m_length;
+	void	*m_oldPtr;
+	int		m_dna_nr;
+	int		m_number;
+};
+
 struct CommandLogger
 {
 	FILE* m_file;
+	
+	void	writeHeader(unsigned char* buffer) const
+	{
 
+#ifdef  BT_USE_DOUBLE_PRECISION
+		memcpy(buffer, "BT3CMDd", 7);
+#else
+		memcpy(buffer, "BT3CMDf", 7);
+#endif //BT_USE_DOUBLE_PRECISION
+
+		int littleEndian= 1;
+		littleEndian= ((char*)&littleEndian)[0];
+
+		if (sizeof(void*)==8)
+		{
+			buffer[7] = '-';
+		} else
+		{
+			buffer[7] = '_';
+		}
+
+		if (littleEndian)
+		{
+			buffer[8]='v';
+		} else
+		{
+			buffer[8]='V';
+		}
+
+		buffer[9] = 0;
+		buffer[10] = 0;
+		buffer[11] = 0;
+		
+		int ver = btGetVersion();
+		if (ver>=0 && ver<999)
+		{
+			sprintf((char*)&buffer[9],"%d",ver);
+		}
+		
+	}
+	
 	void logCommand(SharedMemoryBlock* testBlock1)
 	{
-		//fwrite(buf,buffSize+sizeof(int),1,m_file);
+		btCommandChunk chunk;
+		chunk.m_chunkCode = testBlock1->m_clientCommands[0].m_type;
+		chunk.m_oldPtr = 0;
+		chunk.m_dna_nr = 0;
+		chunk.m_length = sizeof(SharedMemoryCommand);
+		chunk.m_number = 1;
+		fwrite((const char*)&chunk,sizeof(btCommandChunk), 1,m_file);
+		fwrite((const char*)&testBlock1->m_clientCommands[0],sizeof(SharedMemoryCommand),1,m_file);
 	}
 
 	CommandLogger(const char* fileName)
 	{
 		m_file = fopen(fileName,"wb");
+		unsigned char buf[15];
+		buf[12] = 12;
+		buf[13] = 13;
+		buf[14] = 14;
+		writeHeader(buf);
+		fwrite(buf,12,1,m_file);
 	}
 	virtual ~CommandLogger()
 	{
@@ -127,6 +191,41 @@ struct CommandLogger
 	}
 };
 
+
+struct CommandLogPlayback
+{
+	unsigned char* m_header[12];
+	FILE* m_file;
+
+	CommandLogPlayback(const char* fileName)
+	{
+		m_file = fopen(fileName,"rb");
+		if (m_file)
+		{
+			fread(m_header,12,1,m_file);
+		}
+	}
+	virtual ~CommandLogPlayback()
+	{
+		if (m_file)
+		{
+			fclose(m_file);
+			m_file=0;
+		}
+	}
+	bool processNextCommand(SharedMemoryCommand* cmd)
+	{
+		btCommandChunk chunk;
+		size_t s = fread((void*)&chunk,sizeof(btCommandChunk),1,m_file);
+		if (s==1)
+		{
+			s = fread(cmd,sizeof(SharedMemoryCommand),1,m_file);
+			return (s==1);
+		}
+		return false;
+	}
+};
+
 struct PhysicsServerInternalData
 {
 	///handle management
@@ -219,6 +318,8 @@ struct PhysicsServerInternalData
 	SharedMemoryInterface* m_sharedMemory;
     SharedMemoryBlock* m_testBlock1;
 	CommandLogger* m_commandLogger;
+	CommandLogPlayback* m_logPlayback;
+
 	bool m_isConnected;
 	btScalar m_physicsDeltaTime;
 	btAlignedObjectArray<btMultiBodyJointFeedback*> m_multiBodyJointFeedbacks;
@@ -260,6 +361,7 @@ struct PhysicsServerInternalData
 		:m_sharedMemory(0),
 		m_testBlock1(0),
 		m_commandLogger(0),
+		m_logPlayback(0),
 		m_isConnected(false),
 		m_physicsDeltaTime(1./240.),
 		m_dynamicsWorld(0),
@@ -756,6 +858,19 @@ void PhysicsServerSharedMemory::processClientCommands()
 {
 	if (m_data->m_isConnected && m_data->m_testBlock1)
     {
+		if (m_data->m_logPlayback)
+		{
+			if (m_data->m_testBlock1->m_numServerCommands>m_data->m_testBlock1->m_numProcessedServerCommands)
+			{
+				m_data->m_testBlock1->m_numProcessedServerCommands++;
+			}
+			//push a command from log file
+			bool hasCommand = m_data->m_logPlayback->processNextCommand(&m_data->m_testBlock1->m_clientCommands[0]);
+			if (hasCommand)
+			{
+				m_data->m_testBlock1->m_numClientCommands++;
+			}
+		}
         ///we ignore overflow of integer for now
         if (m_data->m_testBlock1->m_numClientCommands> m_data->m_testBlock1->m_numProcessedClientCommands)
         {
@@ -1738,3 +1853,9 @@ void PhysicsServerSharedMemory::enableCommandLogging(bool enable, const char* fi
 		}
 	}
 }
+
+void PhysicsServerSharedMemory::replayFromLogFile(const char* fileName)
+{
+	CommandLogPlayback* pb = new CommandLogPlayback(fileName);
+	m_data->m_logPlayback = pb;
+}
\ No newline at end of file
diff --git a/examples/SharedMemory/PhysicsServer.h b/examples/SharedMemory/PhysicsServer.h
index e3980792b..d5730aad4 100644
--- a/examples/SharedMemory/PhysicsServer.h
+++ b/examples/SharedMemory/PhysicsServer.h
@@ -55,6 +55,8 @@ public:
 	void    renderScene();
 
 	void enableCommandLogging(bool enable, const char* fileName);
+	void replayFromLogFile(const char* fileName);
+	
 
 };
 
diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp
index 9cf3b2049..2d9fed993 100644
--- a/examples/SharedMemory/PhysicsServerExample.cpp
+++ b/examples/SharedMemory/PhysicsServerExample.cpp
@@ -33,6 +33,13 @@ public:
 	{
 		m_physicsServer.enableCommandLogging(true,"BulletPhysicsCommandLog.bin");
 	}
+
+	void replayFromLogFile()
+	{
+		m_physicsServer.replayFromLogFile("BulletPhysicsCommandLog.bin");
+	}
+	
+
     
 	virtual void resetCamera()
 	{
@@ -273,6 +280,10 @@ class CommonExampleInterface*    PhysicsServerCreateFunc(struct CommonExampleOpt
 	{
 		example->enableCommandLogging();
 	}
+	if (options.m_option & PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG)
+	{
+		example->replayFromLogFile();
+	}
 	return example;
 	
 }
diff --git a/examples/SharedMemory/PhysicsServerExample.h b/examples/SharedMemory/PhysicsServerExample.h
index fbd65b43b..e88074230 100644
--- a/examples/SharedMemory/PhysicsServerExample.h
+++ b/examples/SharedMemory/PhysicsServerExample.h
@@ -4,6 +4,7 @@
 enum PhysicsServerOptions
 {
 	PHYSICS_SERVER_ENABLE_COMMAND_LOGGING=1,
+	PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG=2,
 };
 
 class CommonExampleInterface*    PhysicsServerCreateFunc(struct CommonExampleOptions& options);
diff --git a/examples/SharedMemory/SharedMemoryBlock.h b/examples/SharedMemory/SharedMemoryBlock.h
index 36cd60f35..fa80c36c9 100644
--- a/examples/SharedMemory/SharedMemoryBlock.h
+++ b/examples/SharedMemory/SharedMemoryBlock.h
@@ -2,7 +2,7 @@
 #define SHARED_MEMORY_BLOCK_H
 
 #define SHARED_MEMORY_MAGIC_NUMBER 64738
-#define SHARED_MEMORY_MAX_COMMANDS 32
+#define SHARED_MEMORY_MAX_COMMANDS 4
 #define SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE (256*1024)
 
 #include "SharedMemoryCommands.h"
diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h
index 6016a3ba1..11a99917e 100644
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -26,7 +26,7 @@
 
 
 #define SHARED_MEMORY_SERVER_TEST_C
-#define MAX_DEGREE_OF_FREEDOM 256
+#define MAX_DEGREE_OF_FREEDOM 64
 #define MAX_NUM_SENSORS 256
 #define MAX_URDF_FILENAME_LENGTH 1024
 #define MAX_FILENAME_LENGTH MAX_URDF_FILENAME_LENGTH