diff --git a/data/pr2_gripper.urdf b/data/pr2_gripper.urdf
index 6ca8dc674..7d16d986a 100644
--- a/data/pr2_gripper.urdf
+++ b/data/pr2_gripper.urdf
@@ -71,9 +71,9 @@
     </visual>
     <collision>
       <geometry>
-        <box size=".03 .03 .02"/>
+        <box size=".03 .01 .02"/>
       </geometry>
-      <origin rpy="0.0 0 0" xyz="0.105 0.00495 0"/>
+      <origin rpy="0.0 0.0 0" xyz="0.105 -0.005 0"/>
     </collision>
     <inertial>
       <mass value="0.1"/>
@@ -130,10 +130,17 @@
     </visual>
     <collision>
       <geometry>
-      	<box size=".03 .03 .02"/>
+      	<box size=".03 .01 .02"/>
       </geometry>
-      <origin rpy="-3.1415 0 0" xyz="0.105 0.00495 0"/>
+      <origin rpy="-3.1415 0 0" xyz="0.105 0.015 0"/>
     </collision>
+	<collision>
+      <geometry>
+        <box size=".01 .02 .02"/>
+      </geometry>
+      <origin rpy="-3.1415 0 -0.5" xyz="0.095 0.005 0"/>
+    </collision>
+
     <inertial>
       <mass value="0.1"/>
       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
diff --git a/examples/ExampleBrowser/main.cpp b/examples/ExampleBrowser/main.cpp
index 0395fcbd9..46bbd2b0b 100644
--- a/examples/ExampleBrowser/main.cpp
+++ b/examples/ExampleBrowser/main.cpp
@@ -1,5 +1,3 @@
-
-
 #include "OpenGLExampleBrowser.h"
 
 #include "Bullet3Common/b3CommandLineArgs.h"
diff --git a/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp b/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
index 563c657a4..17f77631c 100644
--- a/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
+++ b/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
@@ -173,9 +173,17 @@ struct BulletMJCFImporterInternalData
 
 	std::string sourceFileLocation(TiXmlElement* e)
 	{
+#if 0
+	//no C++11 snprintf etc
 		char buf[1024];
 		snprintf(buf, sizeof(buf), "%s:%i", m_sourceFileName.c_str(), e->Row());
 		return buf;
+#else
+		char row[1024];
+		sprintf(row,"%d",e->Row());
+		std::string str = m_sourceFileName.c_str() + std::string(":") + std::string(row);
+		return str;
+#endif
 	}
 	
 	const UrdfLink* getLink(int modelIndex, int linkIndex) const
diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.cpp b/examples/Importers/ImportURDFDemo/UrdfParser.cpp
index 0b42eb2c9..53857c6c2 100644
--- a/examples/Importers/ImportURDFDemo/UrdfParser.cpp
+++ b/examples/Importers/ImportURDFDemo/UrdfParser.cpp
@@ -1679,7 +1679,17 @@ bool UrdfParser::loadSDF(const char* sdfText, ErrorLogger* logger)
 
 std::string UrdfParser::sourceFileLocation(TiXmlElement* e)
 {
+#if 0
+	//no C++11 etc, no snprintf
+
 	char buf[1024];
 	snprintf(buf, sizeof(buf), "%s:%i", m_urdf2Model.m_sourceFile.c_str(), e->Row());
 	return buf;
+#else
+	char row[1024];
+        sprintf(row,"%d",e->Row());
+        std::string str = m_urdf2Model.m_sourceFile.c_str() + std::string(":") + std::string(row);
+        return str;
+#endif
+
 }
diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp
index 970b209d3..7ca002b8d 100644
--- a/examples/SharedMemory/PhysicsServerExample.cpp
+++ b/examples/SharedMemory/PhysicsServerExample.cpp
@@ -305,7 +305,8 @@ void	MotionThreadFunc(void* userPtr,void* lsMemory)
 
 		double deltaTimeInSeconds = 0;
 		int numCmdSinceSleep1ms = 0;
-
+		unsigned long long int prevTime = clock.getTimeMicroseconds();
+		
 		do
 		{
 			BT_PROFILE("loop");
@@ -330,8 +331,16 @@ void	MotionThreadFunc(void* userPtr,void* lsMemory)
 				sleepClock.reset();
 				numCmdSinceSleep1ms = 0;
 			}
+
+			unsigned long long int curTime = clock.getTimeMicroseconds();
+			unsigned long long int dtMicro = curTime - prevTime;
+			prevTime = curTime;
+#if 1
+			double dt = double(dtMicro)/1000000.;
+#else
 			double dt = double(clock.getTimeMicroseconds())/1000000.;
 			clock.reset();
+#endif
 			deltaTimeInSeconds+= dt;
 			
 			{
diff --git a/src/BulletDynamics/Featherstone/btMultiBody.cpp b/src/BulletDynamics/Featherstone/btMultiBody.cpp
index c14aa2aea..07b2fcddb 100644
--- a/src/BulletDynamics/Featherstone/btMultiBody.cpp
+++ b/src/BulletDynamics/Featherstone/btMultiBody.cpp
@@ -112,7 +112,7 @@ btMultiBody::btMultiBody(int n_links,
 		m_userObjectPointer(0),
 		m_userIndex2(-1),
 		m_userIndex(-1),
-		m_linearDamping(0.04f),
+		m_linearDamping(0.0f),
 		m_angularDamping(0.04f),
 		m_useGyroTerm(true),
 			m_maxAppliedImpulse(1000.f),
diff --git a/src/LinearMath/btQuickprof.cpp b/src/LinearMath/btQuickprof.cpp
index b419495c0..c690b57c8 100644
--- a/src/LinearMath/btQuickprof.cpp
+++ b/src/LinearMath/btQuickprof.cpp
@@ -518,7 +518,7 @@ CProfileIterator *	CProfileManager::Get_Iterator( void )
 { 
 
 		int threadIndex = btQuickprofGetCurrentThreadIndex2();
-		if (threadIndex<0)
+		if ((threadIndex<0) || threadIndex >= BT_QUICKPROF_MAX_THREAD_COUNT)
 			return 0;
 
 		return new CProfileIterator( &gRoots[threadIndex]); 
@@ -549,7 +549,7 @@ void						CProfileManager::CleanupMemory(void)
 void	CProfileManager::Start_Profile( const char * name )
 {
 	int threadIndex = btQuickprofGetCurrentThreadIndex2();
-	if (threadIndex<0)
+	if ((threadIndex<0) || threadIndex >= BT_QUICKPROF_MAX_THREAD_COUNT)
 		return;
 
 	if (name != gCurrentNodes[threadIndex]->Get_Name()) {
@@ -566,7 +566,7 @@ void	CProfileManager::Start_Profile( const char * name )
 void	CProfileManager::Stop_Profile( void )
 {
 	int threadIndex = btQuickprofGetCurrentThreadIndex2();
-	if (threadIndex<0)
+	if ((threadIndex<0) || threadIndex >= BT_QUICKPROF_MAX_THREAD_COUNT)
 		return;
 
 	// Return will indicate whether we should back up to our parent (we may
@@ -590,7 +590,7 @@ void	CProfileManager::Reset( void )
 {
 	gProfileClock.reset();
 	int threadIndex = btQuickprofGetCurrentThreadIndex2();
-	if (threadIndex<0)
+	if ((threadIndex<0) || threadIndex >= BT_QUICKPROF_MAX_THREAD_COUNT)
 		return;
 	gRoots[threadIndex].Reset();
 	gRoots[threadIndex].Call();
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index ff1da9bff..9bbfdf78c 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -3,5 +3,5 @@ IF(BUILD_BULLET3)
 	SUBDIRS(  InverseDynamics SharedMemory )
 ENDIF(BUILD_BULLET3)
 
-SUBDIRS(  gtest-1.7.0 collision RobotLogging BulletDynamics )
+SUBDIRS(  gtest-1.7.0 collision BulletDynamics )