diff --git a/data/multibody.bullet b/data/multibody.bullet
index a7d7b447d..abbacacce 100644
Binary files a/data/multibody.bullet and b/data/multibody.bullet differ
diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
index 48d7b57d6..4d26967f1 100644
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
@@ -1,5 +1,5 @@
 SUBDIRS( HelloWorld BasicDemo )
 IF(BUILD_BULLET3)
-	SUBDIRS( ExampleBrowser SimpleOpenGL3 ThirdPartyLibs/Gwen OpenGLWindow)
+	SUBDIRS( ExampleBrowser ThirdPartyLibs/Gwen OpenGLWindow)
 ENDIF()
 
diff --git a/examples/MultiBody/MultiBodySoftContact.cpp b/examples/MultiBody/MultiBodySoftContact.cpp
index 89b7530ce..cc5d1ff9a 100644
--- a/examples/MultiBody/MultiBodySoftContact.cpp
+++ b/examples/MultiBody/MultiBodySoftContact.cpp
@@ -36,6 +36,9 @@ public:
 
 };
 
+extern ContactAddedCallback		gContactAddedCallback;
+
+
 MultiBodySoftContact::MultiBodySoftContact(struct GUIHelperInterface* helper)
 :CommonMultiBodyBase(helper),
 m_once(true)
@@ -44,11 +47,10 @@ m_once(true)
 
 MultiBodySoftContact::~MultiBodySoftContact()
 {
-
+    gContactAddedCallback = 0;
 }
 
 
-extern ContactAddedCallback		gContactAddedCallback;
 static bool btMultiBodySoftContactCallback(btManifoldPoint& cp,	const btCollisionObjectWrapper* colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1)
 {
     cp.m_contactCFM = 0.3;
diff --git a/examples/RigidBody/RigidBodySoftContact.cpp b/examples/RigidBody/RigidBodySoftContact.cpp
index 6350fe4d7..1ea1bb002 100644
--- a/examples/RigidBody/RigidBodySoftContact.cpp
+++ b/examples/RigidBody/RigidBodySoftContact.cpp
@@ -29,6 +29,8 @@ subject to the following restrictions:
 #include "BulletDynamics/MLCPSolvers/btMLCPSolver.h"
 #include "BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h"
 
+extern ContactAddedCallback		gContactAddedCallback;
+
 
 struct RigidBodySoftContact : public CommonRigidBodyBase
 {
@@ -36,7 +38,10 @@ struct RigidBodySoftContact : public CommonRigidBodyBase
 		:CommonRigidBodyBase(helper)
 	{
 	}
-	virtual ~RigidBodySoftContact(){}
+	virtual ~RigidBodySoftContact()
+    {
+        gContactAddedCallback = 0;
+    }
 	virtual void initPhysics();
 	virtual void renderScene();
 	void resetCamera()
@@ -49,7 +54,7 @@ struct RigidBodySoftContact : public CommonRigidBodyBase
 	}
 };
 
-extern ContactAddedCallback		gContactAddedCallback;
+
 static bool btRigidBodySoftContactCallback(btManifoldPoint& cp,	const btCollisionObjectWrapper* colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1)
 {
     cp.m_contactCFM = 0.3;
diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h
index e0b2bf9d4..198afc092 100644
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -150,7 +150,7 @@ struct SendDesiredStateArgs
 	//or the maximum applied force/torque for the PD/motor/constraint to reach the desired velocity in CONTROL_MODE_VELOCITY and CONTROL_MODE_POSITION_VELOCITY_PD mode
 	//indexed by degree of freedom, 6 dof base, and then dofs for each link
     double m_desiredStateForceTorque[MAX_DEGREE_OF_FREEDOM];
- 
+    
 };