diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index 0a76d6334..c3bd61296 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -649,6 +649,24 @@ B3_SHARED_API	int	b3PhysicsParamSetDefaultFrictionERP(b3SharedMemoryCommandHandl
 	return 0;
 }
 
+B3_SHARED_API int b3PhysicsParamSetDefaultGlobalCFM(b3SharedMemoryCommandHandle commandHandle, double defaultGlobalCFM)
+{
+    struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+    b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
+    command->m_updateFlags |= SIM_PARAM_UPDATE_DEFAULT_GLOBAL_CFM;
+    command->m_physSimParamArgs.m_defaultGlobalCFM = defaultGlobalCFM;
+    return 0;
+}
+
+B3_SHARED_API int b3PhysicsParamSetDefaultFrictionCFM(b3SharedMemoryCommandHandle commandHandle, double frictionCFM)
+{
+    struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+    b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
+    command->m_updateFlags |= SIM_PARAM_UPDATE_DEFAULT_FRICTION_CFM;
+    command->m_physSimParamArgs.m_frictionCFM = frictionCFM;
+    return 0;
+}
+
 
 B3_SHARED_API  b3SharedMemoryCommandHandle b3InitStepSimulationCommand(b3PhysicsClientHandle physClient)
 {
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index ca531aaf2..05a96f601 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -283,6 +283,8 @@ B3_SHARED_API	int	b3PhysicsParamSetTimeStep(b3SharedMemoryCommandHandle commandH
 B3_SHARED_API	int	b3PhysicsParamSetDefaultContactERP(b3SharedMemoryCommandHandle commandHandle, double defaultContactERP);
 B3_SHARED_API	int	b3PhysicsParamSetDefaultNonContactERP(b3SharedMemoryCommandHandle commandHandle, double defaultNonContactERP);
 B3_SHARED_API	int	b3PhysicsParamSetDefaultFrictionERP(b3SharedMemoryCommandHandle commandHandle, double frictionERP);
+B3_SHARED_API int b3PhysicsParamSetDefaultGlobalCFM(b3SharedMemoryCommandHandle commandHandle, double defaultGlobalCFM);
+B3_SHARED_API int b3PhysicsParamSetDefaultFrictionCFM(b3SharedMemoryCommandHandle commandHandle, double frictionCFM);
 B3_SHARED_API	int	b3PhysicsParamSetNumSubSteps(b3SharedMemoryCommandHandle commandHandle, int numSubSteps);
 B3_SHARED_API	int b3PhysicsParamSetRealTimeSimulation(b3SharedMemoryCommandHandle commandHandle, int enableRealTimeSimulation);
 B3_SHARED_API	int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHandle, int numSolverIterations);
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index b1ee54dca..cc4f7586f 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -6735,7 +6735,16 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
     {
         m_data->m_dynamicsWorld->getSolverInfo().m_frictionERP = clientCmd.m_physSimParamArgs.m_frictionERP;
     }
-					
+
+    if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_DEFAULT_GLOBAL_CFM)
+    {
+        m_data->m_dynamicsWorld->getSolverInfo().m_globalCfm = clientCmd.m_physSimParamArgs.m_defaultGlobalCFM;
+    }
+
+    if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_DEFAULT_FRICTION_CFM)
+    {
+        m_data->m_dynamicsWorld->getSolverInfo().m_frictionERP = clientCmd.m_physSimParamArgs.m_frictionCFM;
+    }
 
 	if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_RESTITUTION_VELOCITY_THRESHOLD)
     {
diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h
index 48b96b0b6..75edd0be8 100644
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -448,6 +448,8 @@ enum EnumSimParamUpdateFlags
 	SIM_PARAM_UPDATE_DETERMINISTIC_OVERLAPPING_PAIRS = 65536,
 	SIM_PARAM_UPDATE_CCD_ALLOWED_PENETRATION = 131072,
 	SIM_PARAM_UPDATE_JOINT_FEEDBACK_MODE = 262144,
+	SIM_PARAM_UPDATE_DEFAULT_GLOBAL_CFM = 524288,
+	SIM_PARAM_UPDATE_DEFAULT_FRICTION_CFM = 1048576,
 };
 
 enum EnumLoadSoftBodyUpdateFlags
diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index 391a2edf7..eb89b24af 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -747,8 +747,10 @@ struct b3PhysicsSimulationParameters
 	int m_collisionFilterMode;
 	int m_enableFileCaching;
 	double m_restitutionVelocityThreshold;
-	double 	m_defaultNonContactERP;
+	double m_defaultNonContactERP;
 	double m_frictionERP;
+	double m_defaultGlobalCFM;
+	double m_frictionCFM;
 	int m_enableConeFriction;
 	int m_deterministicOverlappingPairs;
 	double m_allowedCcdPenetration;