diff --git a/examples/Importers/ImportURDFDemo/LinkVisualShapesConverter.h b/examples/Importers/ImportURDFDemo/LinkVisualShapesConverter.h
index 8f3d3c411..edc7559ba 100644
--- a/examples/Importers/ImportURDFDemo/LinkVisualShapesConverter.h
+++ b/examples/Importers/ImportURDFDemo/LinkVisualShapesConverter.h
@@ -9,6 +9,9 @@ class btCollisionObject;
 struct LinkVisualShapesConverter
 {
 	virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, class btCollisionObject* colShape, int objectIndex) =0;
+	
+	virtual void removeVisualShape(class btCollisionObject* colObj)=0;
+
 };
 
 #endif //LINK_VISUAL_SHAPES_CONVERTER_H
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 578086f54..4162cab19 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -5101,6 +5101,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 								
 								if (bodyHandle->m_multiBody->getBaseCollider())
 								{
+									m_data->m_visualConverter.removeVisualShape(bodyHandle->m_multiBody->getBaseCollider());
 									m_data->m_dynamicsWorld->removeCollisionObject(bodyHandle->m_multiBody->getBaseCollider());
 									int graphicsIndex = bodyHandle->m_multiBody->getBaseCollider()->getUserIndex();
 									m_data->m_guiHelper->removeGraphicsInstance(graphicsIndex);
@@ -5110,6 +5111,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 									
 									if (bodyHandle->m_multiBody->getLink(link).m_collider)
 									{
+										m_data->m_visualConverter.removeVisualShape(bodyHandle->m_multiBody->getLink(link).m_collider);
 										m_data->m_dynamicsWorld->removeCollisionObject(bodyHandle->m_multiBody->getLink(link).m_collider);
 										int graphicsIndex = bodyHandle->m_multiBody->getLink(link).m_collider->getUserIndex();
 										m_data->m_guiHelper->removeGraphicsInstance(graphicsIndex);
@@ -5126,6 +5128,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 							}
 							if (bodyHandle->m_rigidBody)
 							{
+								m_data->m_visualConverter.removeVisualShape(bodyHandle->m_rigidBody);
 								serverCmd.m_removeObjectArgs.m_bodyUniqueIds[serverCmd.m_removeObjectArgs.m_numBodies++] = bodyUniqueId;
 								//todo: clear all other remaining data...
 								m_data->m_dynamicsWorld->removeRigidBody(bodyHandle->m_rigidBody);
diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
index 5e9579c08..c892884d2 100644
--- a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
+++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
@@ -972,6 +972,24 @@ void TinyRendererVisualShapeConverter::copyCameraImageData(unsigned char* pixels
     }    
 }
 
+void TinyRendererVisualShapeConverter::removeVisualShape(class btCollisionObject* colObj)
+{
+	TinyRendererObjectArray** ptrptr = m_data->m_swRenderInstances[colObj];
+	if (ptrptr && *ptrptr)
+	{
+		TinyRendererObjectArray* ptr = *ptrptr;
+		if (ptr)
+		{
+			for (int o=0;o<ptr->m_renderObjects.size();o++)
+			{
+				delete ptr->m_renderObjects[o];
+			}
+		}
+		delete ptr;
+		m_data->m_swRenderInstances.remove(colObj);
+	}
+}
+
 
 void TinyRendererVisualShapeConverter::resetAll()
 {
diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.h b/examples/SharedMemory/TinyRendererVisualShapeConverter.h
index e9e60948f..6771dc624 100644
--- a/examples/SharedMemory/TinyRendererVisualShapeConverter.h
+++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.h
@@ -17,11 +17,13 @@ struct TinyRendererVisualShapeConverter : public LinkVisualShapesConverter
 	virtual ~TinyRendererVisualShapeConverter();
 	
 	virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, class btCollisionObject* colShape, int objectIndex);
-	
+
 	virtual int getNumVisualShapes(int bodyUniqueId);
 
 	virtual int getVisualShapesData(int bodyUniqueId, int shapeIndex, struct b3VisualShapeData* shapeData);
-	
+
+	virtual void removeVisualShape(class btCollisionObject* colObj);
+
 	void setUpAxis(int axis);
 	
     void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ);