diff --git a/Demos/Benchmarks/Taru.mdl b/Demos/Benchmarks/Taru.mdl
index 71c6d1774..f9cf621b0 100644
--- a/Demos/Benchmarks/Taru.mdl
+++ b/Demos/Benchmarks/Taru.mdl
@@ -1,7 +1,7 @@
 #define TaruVtxCount 43
 #define TaruIdxCount 132
 
-float TaruVtx[] = {
+static float TaruVtx[] = {
 1.08664f,-1.99237f,0.0f,
 0.768369f,-1.99237f,-0.768369f,
 1.28852f,1.34412e-007f,-1.28852f,
@@ -47,7 +47,7 @@ float TaruVtx[] = {
 1.08664f,1.99237f,0.0f,
 };
 
-float TaruNml[] = {
+static float TaruNml[] = {
 0.938103f,-0.346356f,0.0f,
 0.663339f,-0.346356f,-0.663339f,
 0.707107f,0.0f,-0.707107f,
@@ -93,7 +93,7 @@ float TaruNml[] = {
 0.0f,1.0f,0.0f,
 };
 
-float TaruTex[] = {
+static float TaruTex[] = {
 0.75f,0.0f,
 0.875f,0.0f,
 0.875f,0.5f,
@@ -139,7 +139,7 @@ float TaruTex[] = {
 0.5f,1.0f,
 };
 
-unsigned short TaruIdx[] = {
+static unsigned short TaruIdx[] = {
 0,1,2,
 2,3,0,
 1,4,5,
diff --git a/Demos/Gpu2dDemo/btGpuDemoDynamicsWorld.cpp b/Demos/Gpu2dDemo/btGpuDemoDynamicsWorld.cpp
index 79326ab97..bfead15e6 100644
--- a/Demos/Gpu2dDemo/btGpuDemoDynamicsWorld.cpp
+++ b/Demos/Gpu2dDemo/btGpuDemoDynamicsWorld.cpp
@@ -431,8 +431,8 @@ void btGpuDemoDynamicsWorld::debugDrawConstraints(int selectedBatch, const float
 		for(int i = 0; i < numConstraints; i++)
 		{
 			int indx = pBatchIds[i];
-			int idA = m_hIds[indx].x;
-			int idB = m_hIds[indx].y;
+			int idA = m_hIds[indx].x-1;
+			int idB = m_hIds[indx].y-1;
 			if((idA > 0) && (idB > 0))
 			{
 				btCollisionObject* colObjA = m_collisionObjects[idA];
diff --git a/Demos/Gpu2dDemo/btGpuDemoDynamicsWorld.h b/Demos/Gpu2dDemo/btGpuDemoDynamicsWorld.h
index 62ea02f1d..ea7811009 100644
--- a/Demos/Gpu2dDemo/btGpuDemoDynamicsWorld.h
+++ b/Demos/Gpu2dDemo/btGpuDemoDynamicsWorld.h
@@ -42,7 +42,7 @@ subject to the following restrictions:
 
 //----------------------------------------------------------------------------------------
 
-#include "btGpuDemo2DSharedTypes.h"
+#include "btGpuDemo2dSharedTypes.h"
 
 //----------------------------------------------------------------------------------------
 
diff --git a/Demos/OpenGL/GLDebugFont.cpp b/Demos/OpenGL/GLDebugFont.cpp
index e9131e270..b90eabc09 100644
--- a/Demos/OpenGL/GLDebugFont.cpp
+++ b/Demos/OpenGL/GLDebugFont.cpp
@@ -16,7 +16,7 @@ subject to the following restrictions:
 #include "GLDebugFont.h"
 #include "GlutStuff.h"
 #include <stdio.h>
-#include <string>
+#include <string.h> //for memset
 
 extern unsigned char sFontData[];
 static GLuint sTexture = -1;
diff --git a/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp b/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp
index 3ae25f109..752e45a5a 100644
--- a/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp
+++ b/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp
@@ -45,17 +45,17 @@ btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(const btDefault
 
 	void* mem = btAlignedAlloc(sizeof(btVoronoiSimplexSolver),16);
 	m_simplexSolver = new (mem)btVoronoiSimplexSolver();
-	
-#define USE_EPA 1
-#ifdef USE_EPA
-	mem = btAlignedAlloc(sizeof(btGjkEpaPenetrationDepthSolver),16);
-	m_pdSolver = new (mem)btGjkEpaPenetrationDepthSolver;
-#else
-	mem = btAlignedAlloc(sizeof(btMinkowskiPenetrationDepthSolver),16);
-	m_pdSolver = new (mem)btMinkowskiPenetrationDepthSolver;
-#endif//USE_EPA	
-	
 
+	if (constructionInfo.m_useEpaPenetrationAlgorithm)
+	{
+		mem = btAlignedAlloc(sizeof(btGjkEpaPenetrationDepthSolver),16);
+		m_pdSolver = new (mem)btGjkEpaPenetrationDepthSolver;
+	}else
+	{
+		mem = btAlignedAlloc(sizeof(btMinkowskiPenetrationDepthSolver),16);
+		m_pdSolver = new (mem)btMinkowskiPenetrationDepthSolver;
+	}
+	
 	//default CreationFunctions, filling the m_doubleDispatch table
 	mem = btAlignedAlloc(sizeof(btConvexConvexAlgorithm::CreateFunc),16);
 	m_convexConvexCreateFunc = new(mem) btConvexConvexAlgorithm::CreateFunc(m_simplexSolver,m_pdSolver);
diff --git a/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h b/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h
index 6d8cab726..2379566da 100644
--- a/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h
+++ b/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h
@@ -28,6 +28,7 @@ struct	btDefaultCollisionConstructionInfo
 	int					m_defaultMaxPersistentManifoldPoolSize;
 	int					m_defaultMaxCollisionAlgorithmPoolSize;
 	int					m_defaultStackAllocatorSize;
+	int					m_useEpaPenetrationAlgorithm;
 
 	btDefaultCollisionConstructionInfo()
 		:m_stackAlloc(0),
@@ -35,7 +36,8 @@ struct	btDefaultCollisionConstructionInfo
 		m_collisionAlgorithmPool(0),
 		m_defaultMaxPersistentManifoldPoolSize(4096),
 		m_defaultMaxCollisionAlgorithmPoolSize(4096),
-		m_defaultStackAllocatorSize(0)
+		m_defaultStackAllocatorSize(0),
+		m_useEpaPenetrationAlgorithm(true)
 	{
 	}
 };
diff --git a/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h b/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
index f8ee375f9..aace8e178 100644
--- a/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
+++ b/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
@@ -127,7 +127,7 @@ public:
 
 	}
 
-	void	setAxis(btVector3& axisInA = btVector3(0, 1, 0))
+	void	setAxis(btVector3& axisInA)
 	{
 		btVector3 rbAxisA1, rbAxisA2;
 		btPlaneSpace1(axisInA, rbAxisA1, rbAxisA2);
diff --git a/src/BulletMultiThreaded/btGpu3DGridBroadphase.cpp b/src/BulletMultiThreaded/btGpu3DGridBroadphase.cpp
index 3b8838f00..16975b10b 100644
--- a/src/BulletMultiThreaded/btGpu3DGridBroadphase.cpp
+++ b/src/BulletMultiThreaded/btGpu3DGridBroadphase.cpp
@@ -27,8 +27,7 @@ subject to the following restrictions:
 #include "btGpu3DGridBroadphaseSharedDefs.h"
 
 #include "btGpu3DGridBroadphase.h"
-#include <string> //for memset
-
+#include <string.h> //for memset
 //--------------------------------------------------------------------------
 
 #include <stdio.h>