diff --git a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
index d21bf2503..cfcd7b00a 100644
--- a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
+++ b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
@@ -464,7 +464,7 @@ bool b3RobotSimulatorClientAPI_NoDirect::getBasePositionAndOrientation(int bodyU
 	return true;
 }
 
-bool b3RobotSimulatorClientAPI_NoDirect::resetBasePositionAndOrientation(int bodyUniqueId, btVector3& basePosition, btQuaternion& baseOrientation)
+bool b3RobotSimulatorClientAPI_NoDirect::resetBasePositionAndOrientation(int bodyUniqueId, const btVector3& basePosition, const btQuaternion& baseOrientation)
 {
 	if (!isConnected())
 	{
@@ -1575,7 +1575,7 @@ bool b3RobotSimulatorClientAPI_NoDirect::removeUserDebugItem(int itemUniqueId)
 	return true;
 }
 
-int b3RobotSimulatorClientAPI_NoDirect::addUserDebugText(char* text, double* textPosition, struct b3RobotSimulatorAddUserDebugTextArgs& args)
+int b3RobotSimulatorClientAPI_NoDirect::addUserDebugText(const char* text, double* textPosition, struct b3RobotSimulatorAddUserDebugTextArgs& args)
 {
 	b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
 	if (sm == 0)
@@ -1611,7 +1611,7 @@ int b3RobotSimulatorClientAPI_NoDirect::addUserDebugText(char* text, double* tex
 	return -1;
 }
 
-int b3RobotSimulatorClientAPI_NoDirect::addUserDebugText(char* text, btVector3& textPosition, struct b3RobotSimulatorAddUserDebugTextArgs& args)
+int b3RobotSimulatorClientAPI_NoDirect::addUserDebugText(const char* text, btVector3& textPosition, struct b3RobotSimulatorAddUserDebugTextArgs& args)
 {
 	double dposXYZ[3];
 	dposXYZ[0] = textPosition.x();
@@ -2168,6 +2168,68 @@ bool b3RobotSimulatorClientAPI_NoDirect::getAABB(int bodyUniqueId, int linkIndex
 	return status;
 }
 
+
+int b3RobotSimulatorClientAPI_NoDirect::createVisualShape(int shapeType, struct b3RobotSimulatorCreateVisualShapeArgs& args)
+{
+	b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
+	if (sm == 0)
+	{
+		b3Warning("Not connected");
+		return false;
+	}
+	b3SharedMemoryCommandHandle command;
+	b3SharedMemoryStatusHandle statusHandle;
+	int statusType;
+	int shapeIndex = -1;
+
+	command = b3CreateVisualShapeCommandInit(sm);
+
+	if (shapeType == GEOM_SPHERE && args.m_radius > 0)
+	{
+		shapeIndex = b3CreateVisualShapeAddSphere(command, args.m_radius);
+	}
+	if (shapeType == GEOM_BOX)
+	{
+		double halfExtents[3];
+		scalarToDouble3(args.m_halfExtents, halfExtents);
+		shapeIndex = b3CreateVisualShapeAddBox(command, halfExtents);
+	}
+	if (shapeType == GEOM_CAPSULE && args.m_radius > 0 && args.m_height >= 0)
+	{
+		shapeIndex = b3CreateVisualShapeAddCapsule(command, args.m_radius, args.m_height);
+	}
+	if (shapeType == GEOM_CYLINDER && args.m_radius > 0 && args.m_height >= 0)
+	{
+		shapeIndex = b3CreateVisualShapeAddCylinder(command, args.m_radius, args.m_height);
+	}
+	if (shapeType == GEOM_MESH && args.m_fileName)
+	{
+		double meshScale[3];
+		scalarToDouble3(args.m_meshScale, meshScale);
+		shapeIndex = b3CreateVisualShapeAddMesh(command, args.m_fileName, meshScale);
+	}
+	if (shapeType == GEOM_PLANE)
+	{
+		double planeConstant = 0;
+		double planeNormal[3];
+		scalarToDouble3(args.m_planeNormal, planeNormal);
+		shapeIndex = b3CreateVisualShapeAddPlane(command, planeNormal, planeConstant);
+	}
+	if (shapeIndex >= 0 && args.m_flags)
+	{
+		b3CreateVisualSetFlag(command, shapeIndex, args.m_flags);
+	}
+
+	statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
+	statusType = b3GetStatusType(statusHandle);
+	if (statusType == CMD_CREATE_VISUAL_SHAPE_COMPLETED)
+	{
+		int uid = b3GetStatusVisualShapeUniqueId(statusHandle);
+		return uid;
+	}
+	return -1;
+}
+
 int b3RobotSimulatorClientAPI_NoDirect::createCollisionShape(int shapeType, struct b3RobotSimulatorCreateCollisionShapeArgs& args)
 {
 	b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
diff --git a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
index 90a74f899..26237117a 100644
--- a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
+++ b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
@@ -492,6 +492,38 @@ struct b3RobotSimulatorCreateCollisionShapeArgs
 	}
 };
 
+
+struct b3RobotSimulatorCreateVisualShapeArgs
+{
+	int m_shapeType;
+	double m_radius;
+	btVector3 m_halfExtents;
+	double m_height;
+	char* m_fileName;
+	btVector3 m_meshScale;
+	btVector3 m_planeNormal;
+	int m_flags;
+	b3RobotSimulatorCreateVisualShapeArgs()
+		: m_shapeType(-1),
+		m_radius(0.5),
+		m_height(1),
+		m_fileName(NULL),
+		m_flags(0)
+	{
+		m_halfExtents.m_floats[0] = 1;
+		m_halfExtents.m_floats[1] = 1;
+		m_halfExtents.m_floats[2] = 1;
+
+		m_meshScale.m_floats[0] = 1;
+		m_meshScale.m_floats[1] = 1;
+		m_meshScale.m_floats[2] = 1;
+
+		m_planeNormal.m_floats[0] = 0;
+		m_planeNormal.m_floats[1] = 0;
+		m_planeNormal.m_floats[2] = 1;
+	}
+};
+
 struct b3RobotSimulatorCreateMultiBodyArgs
 {
 	double m_baseMass;
@@ -707,7 +739,7 @@ public:
 	bool getBodyInfo(int bodyUniqueId, struct b3BodyInfo *bodyInfo);
 
 	bool getBasePositionAndOrientation(int bodyUniqueId, btVector3 &basePosition, btQuaternion &baseOrientation) const;
-	bool resetBasePositionAndOrientation(int bodyUniqueId, btVector3 &basePosition, btQuaternion &baseOrientation);
+	bool resetBasePositionAndOrientation(int bodyUniqueId, const btVector3 &basePosition, const btQuaternion &baseOrientation);
 
 	bool getBaseVelocity(int bodyUniqueId, btVector3 &baseLinearVelocity, btVector3 &baseAngularVelocity) const;
 	bool resetBaseVelocity(int bodyUniqueId, const btVector3 &linearVelocity, const btVector3 &angularVelocity) const;
@@ -792,9 +824,9 @@ public:
 
 	bool removeUserDebugItem(int itemUniqueId);
 
-	int addUserDebugText(char *text, double *textPosition, struct b3RobotSimulatorAddUserDebugTextArgs &args);
+	int addUserDebugText(const char *text, double *textPosition, struct b3RobotSimulatorAddUserDebugTextArgs &args);
 
-	int addUserDebugText(char *text, btVector3 &textPosition, struct b3RobotSimulatorAddUserDebugTextArgs &args);
+	int addUserDebugText(const char *text, btVector3 &textPosition, struct b3RobotSimulatorAddUserDebugTextArgs &args);
 
 	int addUserDebugLine(double *fromXYZ, double *toXYZ, struct b3RobotSimulatorAddUserDebugLineArgs &args);
 
@@ -830,6 +862,8 @@ public:
 
 	bool getAABB(int bodyUniqueId, int linkIndex, btVector3 &aabbMin, btVector3 &aabbMax);
 
+	int createVisualShape(int shapeType, struct b3RobotSimulatorCreateVisualShapeArgs& args);
+
 	int createCollisionShape(int shapeType, struct b3RobotSimulatorCreateCollisionShapeArgs &args);
 
 	int createMultiBody(struct b3RobotSimulatorCreateMultiBodyArgs &args);