diff --git a/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp b/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
index d6ef58531..10bd55e39 100644
--- a/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
+++ b/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
@@ -140,7 +140,7 @@ ImportUrdfSetup::ImportUrdfSetup(struct GUIHelperInterface* helper, int option,
 		{
 			count=0;
 		}
-		sprintf(m_fileName,gFileNameArray[count++].c_str());
+		sprintf(m_fileName,"%s",gFileNameArray[count++].c_str());
 	}
 }
 
diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index aed4937b7..1d76ae427 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -297,7 +297,7 @@ int	b3CreatePoseCommandSetBaseOrientation(b3SharedMemoryCommandHandle commandHan
 	return 0;
 }
 
-int	b3CreatePoseCommandSetJointPositions(b3SharedMemoryCommandHandle commandHandle, int numJointPositions, double* jointPositions)
+int	b3CreatePoseCommandSetJointPositions(b3SharedMemoryCommandHandle commandHandle, int numJointPositions, const double* jointPositions)
 {
 	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
     b3Assert(command);
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index cc1806bef..6d37cfdff 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -90,7 +90,7 @@ int	b3CreateBoxCommandSetHalfExtents(b3SharedMemoryCommandHandle commandHandle,
 b3SharedMemoryCommandHandle b3CreatePoseCommandInit(b3PhysicsClientHandle physClient, int bodyIndex);
 int	b3CreatePoseCommandSetBasePosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ);
 int	b3CreatePoseCommandSetBaseOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW);
-int	b3CreatePoseCommandSetJointPositions(b3SharedMemoryCommandHandle commandHandle, int numJointPositions, double* jointPositions);
+int	b3CreatePoseCommandSetJointPositions(b3SharedMemoryCommandHandle commandHandle, int numJointPositions, const double* jointPositions);
 int	b3CreatePoseCommandSetJointPosition(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle,  int jointIndex, double jointPosition);
 
 b3SharedMemoryCommandHandle b3CreateSensorCommandInit(b3PhysicsClientHandle physClient);
diff --git a/src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp b/src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp
index ac1688cf1..6cba442ca 100644
--- a/src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp
+++ b/src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp
@@ -193,7 +193,7 @@ struct btConnectivityProcessor : public btTriangleCallback
 				btScalar len2 = calculatedEdge.length2();
 
 				btScalar correctedAngle(0);
-				btVector3 calculatedNormalB = normalA;
+				//btVector3 calculatedNormalB = normalA;
 				bool isConvex = false;
 
 				if (len2<m_triangleInfoMap->m_planarEpsilon)