diff --git a/src/BulletInverseDynamics/IDConfig.hpp b/src/BulletInverseDynamics/IDConfig.hpp
index 000cdc58a..ebb10e7a1 100644
--- a/src/BulletInverseDynamics/IDConfig.hpp
+++ b/src/BulletInverseDynamics/IDConfig.hpp
@@ -68,6 +68,10 @@ typedef btScalar idScalar;
 #ifdef BT_USE_DOUBLE_PRECISION
 #define BT_ID_USE_DOUBLE_PRECISION
 #endif
+
+#ifndef BT_USE_INVERSE_DYNAMICS_WITH_BULLET2
+
+
 // use bullet types for arrays and array indices
 #include "Bullet3Common/b3AlignedObjectArray.h"
 // this is to make it work with C++2003, otherwise we could do this:
@@ -80,6 +84,19 @@ struct idArray {
 typedef int idArrayIdx;
 #define ID_DECLARE_ALIGNED_ALLOCATOR() B3_DECLARE_ALIGNED_ALLOCATOR()
 
+#else // BT_USE_INVERSE_DYNAMICS_WITH_BULLET2
+
+#include "LinearMath/btAlignedObjectArray.h"
+template <typename T>
+struct idArray {
+	typedef btAlignedObjectArray<T> type;
+};
+typedef int idArrayIdx;
+#define ID_DECLARE_ALIGNED_ALLOCATOR() BT_DECLARE_ALIGNED_ALLOCATOR()
+
+#endif // BT_USE_INVERSE_DYNAMICS_WITH_BULLET2
+
+
 // use bullet's allocator functions
 #define idMalloc btAllocFunc
 #define idFree btFreeFunc
diff --git a/src/BulletInverseDynamics/IDErrorMessages.hpp b/src/BulletInverseDynamics/IDErrorMessages.hpp
index a3866edc5..4e4c3f70b 100644
--- a/src/BulletInverseDynamics/IDErrorMessages.hpp
+++ b/src/BulletInverseDynamics/IDErrorMessages.hpp
@@ -5,7 +5,7 @@
 /// name of file being compiled, without leading path components
 #define __INVDYN_FILE_WO_DIR__ (strrchr(__FILE__, '/') ? strrchr(__FILE__, '/') + 1 : __FILE__)
 
-#ifndef BT_ID_WO_BULLET
+#if !defined(BT_ID_WO_BULLET) && !defined(BT_USE_INVERSE_DYNAMICS_WITH_BULLET2)
 #include "Bullet3Common/b3Logging.h"
 #define error_message(...) b3Error(__VA_ARGS__)
 #define warning_message(...) b3Warning(__VA_ARGS__)