diff --git a/examples/ExampleBrowser/CollisionShape2TriangleMesh.cpp b/examples/ExampleBrowser/CollisionShape2TriangleMesh.cpp
index 6443df29d..ee106cdd5 100644
--- a/examples/ExampleBrowser/CollisionShape2TriangleMesh.cpp
+++ b/examples/ExampleBrowser/CollisionShape2TriangleMesh.cpp
@@ -141,6 +141,7 @@ void CollisionShape2TriangleMesh(btCollisionShape* collisionShape, const btTrans
 
 					if (pol)
 					{
+						int baseIndex = vertexPositions.size();
 						for (int v = 0; v < pol->m_vertices.size(); v++)
 						{
 							vertexPositions.push_back(pol->m_vertices[v]);
@@ -152,9 +153,9 @@ void CollisionShape2TriangleMesh(btCollisionShape* collisionShape, const btTrans
 						{
 							for (int ii = 2; ii < pol->m_faces[f].m_indices.size(); ii++)
 							{
-								indicesOut.push_back(pol->m_faces[f].m_indices[0]);
-								indicesOut.push_back(pol->m_faces[f].m_indices[ii - 1]);
-								indicesOut.push_back(pol->m_faces[f].m_indices[ii]);
+								indicesOut.push_back(baseIndex+pol->m_faces[f].m_indices[0]);
+								indicesOut.push_back(baseIndex + pol->m_faces[f].m_indices[ii - 1]);
+								indicesOut.push_back(baseIndex + pol->m_faces[f].m_indices[ii]);
 							}
 						}
 					}
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 1696b2e9f..a0cec405a 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -5029,8 +5029,13 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
 									convexHull->addPoint(pt * meshScale, false);
 								}
 
+								if (clientCmd.m_createUserShapeArgs.m_shapes[i].m_collisionFlags & GEOM_INITIALIZE_SAT_FEATURES)
+								{
+									convexHull->initializePolyhedralFeatures();
+								}
 								convexHull->recalcLocalAabb();
 								convexHull->optimizeConvexHull();
+								
 								compound->addChildShape(childTransform, convexHull);
 							}
 						}
@@ -12217,6 +12222,8 @@ bool PhysicsServerCommandProcessor::processRequestCollisionShapeInfoCommand(cons
 		if (bodyHandle->m_multiBody)
 		{
 			b3CollisionShapeData* collisionShapeStoragePtr = (b3CollisionShapeData*)bufferServerToClient;
+			collisionShapeStoragePtr->m_objectUniqueId = bodyUniqueId;
+			collisionShapeStoragePtr->m_linkIndex = linkIndex;
 			int totalBytesPerObject = sizeof(b3CollisionShapeData);
 			int maxNumColObjects = bufferSizeInBytes / totalBytesPerObject - 1;
 			btTransform childTrans;
diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index 0ab9df78d..c2267829c 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -940,6 +940,7 @@ enum eUrdfCollisionFlags
 {
 	GEOM_FORCE_CONCAVE_TRIMESH = 1,
 	GEOM_CONCAVE_INTERNAL_EDGE = 2,
+	GEOM_INITIALIZE_SAT_FEATURES = URDF_INITIALIZE_SAT_FEATURES,
 };
 
 enum eUrdfVisualFlags