diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
index 992840850..efbbbbb89 100644
--- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
+++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
@@ -1001,7 +1001,7 @@ int BulletURDFImporter::convertLinkVisualShapes(int linkIndex, const char* pathP
 	//delete textures
 	for (int i=0;i<textures.size();i++)
 	{
-		delete textures[i].textureData;
+		free( textures[i].textureData);
 	}
 	return graphicsIndex;
 }
diff --git a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
index 58a78512e..f5226f125 100644
--- a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
+++ b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
@@ -286,6 +286,7 @@ void ConvertURDF2BulletInternal(
             btTransform offsetInA,offsetInB;
             offsetInA = parentLocalInertialFrame.inverse()*parent2joint;
             offsetInB = localInertialFrame.inverse();
+            btQuaternion parentRotToThis = offsetInB.getRotation() * offsetInA.inverse().getRotation();
 
             bool disableParentCollision = true;
             switch (jointType)
@@ -295,14 +296,9 @@ void ConvertURDF2BulletInternal(
                     if (createMultiBody)
                     {
                         //todo: adjust the center of mass transform and pivot axis properly
-
-                        //b3Printf("Fixed joint (btMultiBody)\n");
-                        btQuaternion rot = offsetInA.inverse().getRotation();//parent2joint.inverse().getRotation();
                         cache.m_bulletMultiBody->setupFixed(mbLinkIndex, mass, localInertiaDiagonal, mbParentIndex,
-                                                               rot*offsetInB.getRotation(), offsetInA.getOrigin(),-offsetInB.getOrigin());
+                                                            parentRotToThis, offsetInA.getOrigin(),-offsetInB.getOrigin());
                         creation.addLinkMapping(urdfLinkIndex,mbLinkIndex);
-
-
                     } else
                     {
                         //b3Printf("Fixed joint\n");
@@ -319,14 +315,12 @@ void ConvertURDF2BulletInternal(
                 {
                     if (createMultiBody)
                     {
-
-
                         cache.m_bulletMultiBody->setupRevolute(mbLinkIndex, mass, localInertiaDiagonal, mbParentIndex,
-                                                                  offsetInA.inverse().getRotation()*offsetInB.getRotation(), quatRotate(offsetInB.inverse().getRotation(),jointAxisInJointSpace), offsetInA.getOrigin(),//parent2joint.getOrigin(),
+                                                                  parentRotToThis, quatRotate(offsetInB.getRotation(),jointAxisInJointSpace), offsetInA.getOrigin(),//parent2joint.getOrigin(),
                                                                   -offsetInB.getOrigin(),
                                                                   disableParentCollision);
-						cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointDamping = jointDamping;
-						cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointFriction= jointFriction;
+                        cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointDamping = jointDamping;
+                        cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointFriction= jointFriction;
                         creation.addLinkMapping(urdfLinkIndex,mbLinkIndex);
 
                     } else
@@ -344,12 +338,10 @@ void ConvertURDF2BulletInternal(
                 {
                     if (createMultiBody)
                     {
-
                         cache.m_bulletMultiBody->setupPrismatic(mbLinkIndex, mass, localInertiaDiagonal, mbParentIndex,
-                                                                   offsetInA.inverse().getRotation()*offsetInB.getRotation(), quatRotate(offsetInB.inverse().getRotation(),jointAxisInJointSpace), offsetInA.getOrigin(),//parent2joint.getOrigin(),
+                                                                   parentRotToThis, quatRotate(offsetInB.getRotation(),jointAxisInJointSpace), offsetInA.getOrigin(),//parent2joint.getOrigin(),
                                                                    -offsetInB.getOrigin(),
                                                                    disableParentCollision);
-
                         creation.addLinkMapping(urdfLinkIndex,mbLinkIndex);
                         btMultiBodyConstraint* con = new btMultiBodyJointLimitConstraint(cache.m_bulletMultiBody,mbLinkIndex,jointLowerLimit, jointUpperLimit);
                         world1->addMultiBodyConstraint(con);
diff --git a/examples/TinyRenderer/our_gl.cpp b/examples/TinyRenderer/our_gl.cpp
index 639db9b0b..eb5a05a78 100644
--- a/examples/TinyRenderer/our_gl.cpp
+++ b/examples/TinyRenderer/our_gl.cpp
@@ -59,7 +59,7 @@ Vec3f barycentric(Vec2f A, Vec2f B, Vec2f C, Vec2f P) {
     return Vec3f(-1,1,1); // in this case generate negative coordinates, it will be thrown away by the rasterizator
 }
 
-void triangle(mat<4,3,float> &clipc, IShader &shader, TGAImage &image, float *zbuffer, const Matrix& viewPortMatrix, int objectIndex) 
+void triangle(mat<4,3,float> &clipc, IShader &shader, TGAImage &image, float *zbuffer, const Matrix& viewPortMatrix) 
 {
     triangle(clipc,shader,image,zbuffer,0,viewPortMatrix,0);
 }
diff --git a/src/BulletInverseDynamics/IDConfig.hpp b/src/BulletInverseDynamics/IDConfig.hpp
index 8e6577912..c34f98941 100644
--- a/src/BulletInverseDynamics/IDConfig.hpp
+++ b/src/BulletInverseDynamics/IDConfig.hpp
@@ -31,6 +31,10 @@
 #include "IDErrorMessages.hpp"
 
 #ifdef BT_CUSTOM_INVERSE_DYNAMICS_CONFIG_H
+/*
+#include "IDConfigEigen.hpp"
+#include "IDConfigBuiltin.hpp"
+*/
 #define INVDYN_INCLUDE_HELPER_2(x) #x
 #define INVDYN_INCLUDE_HELPER(x) INVDYN_INCLUDE_HELPER_2(x)
 #include INVDYN_INCLUDE_HELPER(BT_CUSTOM_INVERSE_DYNAMICS_CONFIG_H)