diff --git a/Extras/Jamfile b/Extras/Jamfile
index 9a3e64dda..dd87d70fa 100644
--- a/Extras/Jamfile
+++ b/Extras/Jamfile
@@ -12,3 +12,5 @@ SubInclude TOP Extras GIMPACT ;
 SubInclude TOP Extras GIMPACTUtils ;
 #GPUphysics needs 'make', not jam compatible build yet:
 #SubInclude TOP Extras GPUphysics ;
+#MayaPlugin needs 'make' as well 
+#SubInclude TOP Extras MayaPlugin ;
diff --git a/Extras/MayaPlugin/Jamfile b/Extras/MayaPlugin/Jamfile
new file mode 100644
index 000000000..108d54c86
--- /dev/null
+++ b/Extras/MayaPlugin/Jamfile
@@ -0,0 +1,20 @@
+SubDir TOP Extras MayaPlugin ;
+
+#if $(GLUT.AVAILABLE) = "yes"
+#{
+
+Description MayaPlugin : "MayaPlugin" ;
+
+FIncludes $(MAYA_LOCATION)/include
+
+Library MayaPlugin : 
+  [ Wildcard *.h *.cpp ] : noinstall 
+;
+
+CFlags MayaPlugin :	;
+
+LibDepends MayaPlugin :   ;
+
+ExternalLibs MayaPlugin : GLUT ;
+
+#}
diff --git a/Extras/MayaPlugin/Makefile b/Extras/MayaPlugin/Makefile
index 134c96a5f..46c80501c 100644
--- a/Extras/MayaPlugin/Makefile
+++ b/Extras/MayaPlugin/Makefile
@@ -1,5 +1,18 @@
+#MayaPlugin Makefile
 
-#Dynamica Makefile
+## MAYA_LOCATION is the Maya installation directory. It should be already defined in your
+# environment variables. If not, please change it to the appropriate directory
+MAYA=$(MAYA_LOCATION)
+
+## Change this if you want to change the installation directory
+MAYA_PLUG_IN_PATH=/tmp
+
+## Change this if you want to change the name of the final plugin 
+LIBRARY=mayaplugin.so
+
+##################################
+
+BULLET=../..
 
 CPP = g++412
 LD = ld
@@ -13,37 +26,13 @@ CPPFLAGS = -DBits64_ -m64 -DUNIX -D_BOOL -DLINUX -DFUNCPROTO -D_GNU_SOURCE -DLIN
 
 LDFLAGS =-Wl,-Bsymbolic -shared
 
-LIBRARY=dynamica.so
-
-ifdef DISNEY
-#inside Disney
-CPPFLAGS += -DINSIDE_DISNEY
-
-MAYA_PLUG_IN_PATH=/tmp 
-
-BULLET=$(RP_bullet)
-BULLET_INCLUDE=-I$(BULLET)/include
-BULLET_LIB=-L$(BULLET)/lib \
-                -lGIMPACT -lGIMPACTUtils -lbulletdynamics \
-                 -lbulletmath -lbulletcollision
-
-GL_INCLUDE=-I$(RP_glut)/include -I$(RP_glew)/include
-GL_LIB=-L$(RP_glut)/lib -L$(RP_glew)/lib -lGL -lGLU -lglut -lGLEW
-else
-#Nicola's
-
-MAYA_PLUG_IN_PATH=/usr/maya-plugins
-
-BULLET=/usr/bullet-2.70
 BULLET_INCLUDE=-I$(BULLET)/src -I$(BULLET)/Extras/GIMPACT/include
-BULLET_LIB=-L$(BULLET)/out/linux/optimize/libs \
+BULLET_LIB=-L$(BULLET)/out/linux/optimize/libs -L$(BULLET)/src \
                 -lGIMPACT -lGIMPACTUtils -lbulletdynamics \
                  -lbulletmath -lbulletcollision -lbulletopenglsupport
 
 GL_LIB=-lGL -lGLU -lglut -lGLEW
-endif
 
-MAYA=$(MAYA_LOCATION)
 MAYA_INCLUDE=-I$(MAYA)/include
 MAYA_LIB=-L$(MAYA)/lib -lOpenMaya -lFoundation -lOpenMayaUI -lOpenMayaFX
 
@@ -64,7 +53,7 @@ HEADERS = box_shape.h             bt_sphere_shape.h         dSolverNode.h
 
 
 INCLUDE_FLAGS= $(GL_INCLUDE) $(BULLET_INCLUDE) $(MAYA_INCLUDE)
-LIB_FLAGS=$(BULLET_LIB) $(MAYA_LIB) $(GL_LIB) 
+LIB_FLAGS=$(BULLET_LIB) $(MAYA_LIB) $(GL_LIB)
 
 OBJECTS=$(SOURCES:.cpp=.o)
 
diff --git a/Extras/MayaPlugin/README b/Extras/MayaPlugin/README
new file mode 100644
index 000000000..e7bcd0f1b
--- /dev/null
+++ b/Extras/MayaPlugin/README
@@ -0,0 +1,12 @@
+Bullet Maya Plugin
+
+
+How to build in linux:
+
+Please check the beginning of the Makefile to make sure that the variables are correct.
+Then do:
+
+make install
+
+
+
diff --git a/Extras/MayaPlugin/mvl/util.h b/Extras/MayaPlugin/mvl/util.h
index 12ad209d4..bf86bb0b2 100644
--- a/Extras/MayaPlugin/mvl/util.h
+++ b/Extras/MayaPlugin/mvl/util.h
@@ -41,7 +41,6 @@ mat<T, 4, 4> translation(vec<T, 3> const& v)
                         0, 1, 0, v(1),
                         0, 0, 1, v(2),
                         0, 0, 0, 1);  
-    return res;
 }
 
 //scale