diff --git a/examples/RoboticsLearning/b3RobotSimAPI.cpp b/examples/RoboticsLearning/b3RobotSimAPI.cpp
index 84e939716..eff8110b8 100644
--- a/examples/RoboticsLearning/b3RobotSimAPI.cpp
+++ b/examples/RoboticsLearning/b3RobotSimAPI.cpp
@@ -596,7 +596,7 @@ bool b3RobotSimAPI::getJointInfo(int bodyUniqueId, int jointIndex, b3JointInfo*
 	return (b3GetJointInfo(m_data->m_physicsClient,bodyUniqueId, jointIndex,jointInfo)!=0);
 }
 
-void b3RobotSimAPI::createJoint(int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, const b3JointInfo* jointInfo)
+void b3RobotSimAPI::createJoint(int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, const struct b3JointInfo& jointInfo)
 {
     b3SharedMemoryStatusHandle statusHandle;
     b3Assert(b3CanSubmitCommand(m_data->m_physicsClient));
diff --git a/examples/RoboticsLearning/b3RobotSimAPI.h b/examples/RoboticsLearning/b3RobotSimAPI.h
index e42c3d6ea..cb7e3106b 100644
--- a/examples/RoboticsLearning/b3RobotSimAPI.h
+++ b/examples/RoboticsLearning/b3RobotSimAPI.h
@@ -88,7 +88,7 @@ public:
 
 	bool getJointInfo(int bodyUniqueId, int jointIndex, b3JointInfo* jointInfo);
     
-    void createJoint(int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, const b3JointInfo* jointInfo);
+    void createJoint(int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, const struct b3JointInfo& jointInfo);
 
 	void setJointMotorControl(int bodyUniqueId, int jointIndex, const struct b3JointMotorArgs& args);
 
diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index 2e1e841b1..9ae13275a 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -730,7 +730,7 @@ int	b3GetJointInfo(b3PhysicsClientHandle physClient, int bodyIndex, int jointInd
 	return cl->getJointInfo(bodyIndex, jointIndex, *info);
 }
 
-b3SharedMemoryCommandHandle b3CreateJoint(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, const b3JointInfo* info)
+b3SharedMemoryCommandHandle b3CreateJoint(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, const struct b3JointInfo& info)
 {
     PhysicsClient* cl = (PhysicsClient* ) physClient;
     b3Assert(cl);
@@ -744,11 +744,11 @@ b3SharedMemoryCommandHandle b3CreateJoint(b3PhysicsClientHandle physClient, int
     command->m_createJointArguments.m_childBodyIndex = childBodyIndex;
     command->m_createJointArguments.m_childJointIndex = childJointIndex;
     for (int i = 0; i < 7; ++i) {
-        command->m_createJointArguments.m_parentFrame[i] = info->m_parentFrame[i];
-        command->m_createJointArguments.m_childFrame[i] = info->m_childFrame[i];
+        command->m_createJointArguments.m_parentFrame[i] = info.m_parentFrame[i];
+        command->m_createJointArguments.m_childFrame[i] = info.m_childFrame[i];
     }
     for (int i = 0; i < 3; ++i) {
-        command->m_createJointArguments.m_jointAxis[i] = info->m_jointAxis[i];
+        command->m_createJointArguments.m_jointAxis[i] = info.m_jointAxis[i];
     }
     return (b3SharedMemoryCommandHandle)command;
 }
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index 21a9d9b77..2b2ca6b92 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -59,7 +59,7 @@ int	b3GetNumJoints(b3PhysicsClientHandle physClient, int bodyIndex);
 ///given a body and joint index, return the joint information. See b3JointInfo in SharedMemoryPublic.h
 int	b3GetJointInfo(b3PhysicsClientHandle physClient, int bodyIndex, int jointIndex, struct b3JointInfo* info);
     
-b3SharedMemoryCommandHandle b3CreateJoint(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, const b3JointInfo* info);
+b3SharedMemoryCommandHandle b3CreateJoint(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, const struct b3JointInfo& info);
 
 ///Request debug lines for debug visualization. The flags in debugMode are the same as used in Bullet
 ///See btIDebugDraw::DebugDrawModes in Bullet/src/LinearMath/btIDebugDraw.h