diff --git a/.travis.yml b/.travis.yml
index 716a88970..a6ecc0d6d 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -1,11 +1,6 @@
 language: cpp
 matrix:
   include:
-    - os: linux
-      compiler: gcc
-      env:
-        - BUILD_NAME=TRUSTY_GCC
-        - SUDO=sudo
     - os: linux
       compiler: clang
       env:
diff --git a/CMakeLists.txt b/CMakeLists.txt
index d2a0c2556..a695b7172 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -254,7 +254,8 @@ IF(BULLET2_MULTITHREADING)
 		SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
 	ENDIF (NOT MSVC)
 	IF (NOT WIN32)
-		LINK_LIBRARIES( pthread )
+		FIND_PACKAGE(Threads)
+		LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} )
 	ENDIF (NOT WIN32)
 ENDIF (BULLET2_MULTITHREADING)
 
diff --git a/Extras/BulletRobotics/CMakeLists.txt b/Extras/BulletRobotics/CMakeLists.txt
index 641300fb1..ac68be885 100644
--- a/Extras/BulletRobotics/CMakeLists.txt
+++ b/Extras/BulletRobotics/CMakeLists.txt
@@ -201,7 +201,8 @@ ELSE(WIN32)
 	ENDIF(BUILD_CLSOCKET)
 		
 	IF(NOT APPLE)
-		LINK_LIBRARIES(  pthread ${DL} )
+		FIND_PACKAGE(Threads)
+		LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} ${DL} )
 	ENDIF(NOT APPLE)
 ENDIF(WIN32)
 
diff --git a/Extras/BulletRoboticsGUI/CMakeLists.txt b/Extras/BulletRoboticsGUI/CMakeLists.txt
index 9926f14b6..29786e2c3 100644
--- a/Extras/BulletRoboticsGUI/CMakeLists.txt
+++ b/Extras/BulletRoboticsGUI/CMakeLists.txt
@@ -146,7 +146,8 @@ ELSE(WIN32)
 	ENDIF(BUILD_CLSOCKET)
 		
 	IF(NOT APPLE)
-		LINK_LIBRARIES(  pthread ${DL} )
+		FIND_PACKAGE(Threads)
+		LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} ${DL} )
 	ENDIF(NOT APPLE)
 ENDIF(WIN32)
 
diff --git a/Extras/ConvexDecomposition/LICENSE.txt b/Extras/ConvexDecomposition/LICENSE.txt
new file mode 100644
index 000000000..eb54e9c52
--- /dev/null
+++ b/Extras/ConvexDecomposition/LICENSE.txt
@@ -0,0 +1,19 @@
+Copyright (c) 2004 Open Dynamics Framework Group
+					www.physicstools.org
+		All rights reserved.
+		Redistribution and use in source and binary forms, with or without modification, are permitted provided
+		that the following conditions are met:
+		Redistributions of source code must retain the above copyright notice, this list of conditions
+		and the following disclaimer.
+		Redistributions in binary form must reproduce the above copyright notice,
+		this list of conditions and the following disclaimer in the documentation
+		and/or other materials provided with the distribution.
+		Neither the name of the Open Dynamics Framework Group nor the names of its contributors may
+		be used to endorse or promote products derived from this software without specific prior written permission.
+		THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 'AS IS' AND ANY EXPRESS OR IMPLIED WARRANTIES,
+		INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+		DISCLAIMED. IN NO EVENT SHALL THE INTEL OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+		EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+		LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER
+		IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
+		THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/Extras/GIMPACTUtils/LICENSE.txt b/Extras/GIMPACTUtils/LICENSE.txt
new file mode 100644
index 000000000..e4e69b710
--- /dev/null
+++ b/Extras/GIMPACTUtils/LICENSE.txt
@@ -0,0 +1,11 @@
+
+Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
+email: projectileman@yahoo.com
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
diff --git a/Extras/HACD/LICENSE.txt b/Extras/HACD/LICENSE.txt
new file mode 100644
index 000000000..082750fe4
--- /dev/null
+++ b/Extras/HACD/LICENSE.txt
@@ -0,0 +1,13 @@
+Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
+ All rights reserved.
+ 
+ 
+ Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+ 
+ 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+ 
+ 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
+ 
+ 3. The names of the contributors may not be used to endorse or promote products derived from this software without specific prior written permission.
+ 
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/Extras/InverseDynamics/LICENSE.txt b/Extras/InverseDynamics/LICENSE.txt
new file mode 100644
index 000000000..a5f89cd3a
--- /dev/null
+++ b/Extras/InverseDynamics/LICENSE.txt
@@ -0,0 +1,12 @@
+Bullet Continuous Collision Detection and Physics Library
+http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
diff --git a/Extras/Serialize/BulletFileLoader/bFile.cpp b/Extras/Serialize/BulletFileLoader/bFile.cpp
index da9f65f20..5c8f54fe3 100644
--- a/Extras/Serialize/BulletFileLoader/bFile.cpp
+++ b/Extras/Serialize/BulletFileLoader/bFile.cpp
@@ -643,8 +643,8 @@ char *bFile::readStruct(char *head, bChunkInd &dataChunk)
 			if ((strcmp(oldType, "btShortIntIndexData") == 0))
 			{
 				int allocLen = 2;
-				char *dataAlloc = new char[(dataChunk.nr * allocLen) + 1];
-				memset(dataAlloc, 0, (dataChunk.nr * allocLen) + 1);
+				char *dataAlloc = new char[(dataChunk.nr * allocLen) + sizeof(void*)];
+				memset(dataAlloc, 0, (dataChunk.nr * allocLen) + sizeof(void*));
 				short *dest = (short *)dataAlloc;
 				const short *src = (short *)head;
 				for (int i = 0; i < dataChunk.nr; i++)
@@ -682,8 +682,8 @@ char *bFile::readStruct(char *head, bChunkInd &dataChunk)
 				// numBlocks * length
 
 				int allocLen = (curLen);
-				char *dataAlloc = new char[(dataChunk.nr * allocLen) + 1];
-				memset(dataAlloc, 0, (dataChunk.nr * allocLen));
+				char *dataAlloc = new char[(dataChunk.nr * allocLen) + sizeof(void*)];
+				memset(dataAlloc, 0, (dataChunk.nr * allocLen) + sizeof(void*));
 
 				// track allocated
 				addDataBlock(dataAlloc);
@@ -719,8 +719,8 @@ char *bFile::readStruct(char *head, bChunkInd &dataChunk)
 #endif  //
 	}
 
-	char *dataAlloc = new char[(dataChunk.len) + 1];
-	memset(dataAlloc, 0, dataChunk.len + 1);
+	char *dataAlloc = new char[(dataChunk.len) + sizeof(void*)];
+	memset(dataAlloc, 0, dataChunk.len + sizeof(void*));
 
 	// track allocated
 	addDataBlock(dataAlloc);
diff --git a/Extras/Serialize/makesdna/DNA_rigidbody.h b/Extras/Serialize/makesdna/DNA_rigidbody.h
index d100dab18..7835a25d1 100644
--- a/Extras/Serialize/makesdna/DNA_rigidbody.h
+++ b/Extras/Serialize/makesdna/DNA_rigidbody.h
@@ -1,3 +1,17 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
 
 #ifndef DNA_RIGIDBODY_H
 #define DNA_RIGIDBODY_H
diff --git a/Extras/VHACD/LICENSE.txt b/Extras/VHACD/LICENSE.txt
new file mode 100644
index 000000000..f06718c13
--- /dev/null
+++ b/Extras/VHACD/LICENSE.txt
@@ -0,0 +1,14 @@
+Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
+ All rights reserved.
+ 
+ 
+ Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+ 
+ 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+ 
+ 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
+ 
+ 3. The names of the contributors may not be used to endorse or promote products derived from this software without specific prior written permission.
+ 
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ 
diff --git a/Extras/obj2sdf/obj2sdf.cpp b/Extras/obj2sdf/obj2sdf.cpp
index 2237c53f1..2f9d9da6f 100644
--- a/Extras/obj2sdf/obj2sdf.cpp
+++ b/Extras/obj2sdf/obj2sdf.cpp
@@ -4,6 +4,20 @@
 /// this will make it easier to load complex obj files into pybullet
 /// see for example export in data/kitchens/fathirmutfak.sdf
 
+///Bullet Continuous Collision Detection and Physics Library
+///Erwin Coumans (C) 2018
+///http://bulletphysics.org
+///
+///This software is provided 'as-is', without any express or implied warranty.
+///In no event will the authors be held liable for any damages arising from the use of this software.
+///Permission is granted to anyone to use this software for any purpose,
+///including commercial applications, and to alter it and redistribute it freely,
+///subject to the following restrictions:
+///
+///1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+///2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+///3. This notice may not be removed or altered from any source distribution.
+	
 #include <string.h>
 #include <stdio.h>
 #include <assert.h>
diff --git a/examples/BasicDemo/CMakeLists.txt b/examples/BasicDemo/CMakeLists.txt
index 5dd3b9893..7a08fd2d7 100644
--- a/examples/BasicDemo/CMakeLists.txt
+++ b/examples/BasicDemo/CMakeLists.txt
@@ -84,7 +84,8 @@ ELSE(WIN32)
                 ADD_DEFINITIONS("-DGLEW_STATIC")
                 ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
 
-                LINK_LIBRARIES(  pthread ${DL} )
+                FIND_PACKAGE(Threads)
+                LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} ${DL} )
         ENDIF(APPLE)
 ENDIF(WIN32)
 
diff --git a/examples/ExampleBrowser/CMakeLists.txt b/examples/ExampleBrowser/CMakeLists.txt
index 0e92aa203..4e40d7072 100644
--- a/examples/ExampleBrowser/CMakeLists.txt
+++ b/examples/ExampleBrowser/CMakeLists.txt
@@ -61,11 +61,12 @@ IF (BUILD_SHARED_LIBS)
                                 BulletInverseDynamics LinearMath OpenGLWindow gwen BussIK
                                 ${COCOA} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
                  )
-  			ELSE(APPLE)
+				ELSE(APPLE)
+                 FIND_PACKAGE(Threads)
                  TARGET_LINK_LIBRARIES(
                                 BulletExampleBrowserLib Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils
                                 BulletInverseDynamics LinearMath OpenGLWindow gwen BussIK
-                                pthread ${DL}
+                                ${CMAKE_THREAD_LIBS_INIT} ${DL}
                         )
         ENDIF(APPLE)
 	ENDIF(WIN32)
@@ -116,7 +117,8 @@ ELSE(WIN32)
 		ADD_DEFINITIONS("-DGLEW_STATIC")
 		ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
 		INCLUDE_DIRECTORIES( ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/glad )
-		LINK_LIBRARIES( pthread ${DL})
+		FIND_PACKAGE(Threads)
+		LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} ${DL} )
 	ENDIF(APPLE)
 ENDIF(WIN32)
 
diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.cpp b/examples/Importers/ImportURDFDemo/UrdfParser.cpp
index 3348665d5..235e6ee8c 100644
--- a/examples/Importers/ImportURDFDemo/UrdfParser.cpp
+++ b/examples/Importers/ImportURDFDemo/UrdfParser.cpp
@@ -1132,6 +1132,7 @@ bool UrdfParser::parseDeformable(UrdfModel& model, tinyxml2::XMLElement* config,
 	if (!i)
 	{
 		logger->reportError("expected an inertial element");
+		return false;
 	}
 	UrdfInertia inertia;
 	if (!parseInertia(inertia, i, logger))
diff --git a/examples/RobotSimulator/CMakeLists.txt b/examples/RobotSimulator/CMakeLists.txt
index e78880e24..b2d6c2412 100644
--- a/examples/RobotSimulator/CMakeLists.txt
+++ b/examples/RobotSimulator/CMakeLists.txt
@@ -58,7 +58,8 @@ ELSE(WIN32)
 		ADD_DEFINITIONS("-DGLEW_STATIC")
 		ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
 
-		LINK_LIBRARIES(  pthread ${DL} )
+		FIND_PACKAGE(Threads)
+		LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} ${DL} )
 	ENDIF(APPLE)
 ENDIF(WIN32)
 
@@ -110,7 +111,8 @@ IF(WIN32)
 ELSE()
 	IF(APPLE)
 	ELSE(APPLE)
-		TARGET_LINK_LIBRARIES( App_RobotSimulator_NoGUI pthread ${DL} )
+		FIND_PACKAGE(Threads)
+		LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} ${DL} )
 	ENDIF(APPLE)
 ENDIF(WIN32)
 
@@ -144,10 +146,10 @@ IF(WIN32)
                 TARGET_LINK_LIBRARIES(App_HelloBulletRobotics ws2_32 Winmm)
         ENDIF(BUILD_ENET OR BUILD_CLSOCKET)
 ELSE()
-        IF(APPLE)
-        ELSE(APPLE)
-                TARGET_LINK_LIBRARIES( App_HelloBulletRobotics pthread ${DL} )
-        ENDIF(APPLE)
+	IF(NOT APPLE)
+		FIND_PACKAGE(Threads)
+		TARGET_LINK_LIBRARIES( App_HelloBulletRobotics ${CMAKE_THREAD_LIBS_INIT} ${DL} )
+	ENDIF(APPLE)
 ENDIF(WIN32)
 
 
diff --git a/examples/SharedMemory/CMakeLists.txt b/examples/SharedMemory/CMakeLists.txt
index 4da5cc3e3..44db190ac 100644
--- a/examples/SharedMemory/CMakeLists.txt
+++ b/examples/SharedMemory/CMakeLists.txt
@@ -120,8 +120,9 @@ IF (WIN32)
                 ${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
         )
 ELSE(WIN32)
-			 IF(APPLE)
-			        LINK_LIBRARIES(  pthread dl )
+	FIND_PACKAGE(Threads)
+	LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} ${DL} )
+	IF(APPLE)
 			        ADD_EXECUTABLE(App_PhysicsServer_SharedMemory
 			                ${SharedMemory_SRCS}
 			                ../MultiThreading/b3PosixThreadSupport.cpp
@@ -129,8 +130,7 @@ ELSE(WIN32)
 			                main.cpp
 			        )
 
-        ELSE(APPLE)
-                                LINK_LIBRARIES(  pthread ${DL} )
+	ELSE(APPLE)
 			        ADD_EXECUTABLE(App_PhysicsServer_SharedMemory
 			                ${SharedMemory_SRCS}
 			                ../MultiThreading/b3PosixThreadSupport.cpp
@@ -180,8 +180,9 @@ IF (WIN32)
 			          ${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
         )
 ELSE(WIN32)
+	FIND_PACKAGE(Threads)
+	LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} ${DL} )
 			 IF(APPLE)
-			        LINK_LIBRARIES(  pthread dl )
 			        FIND_LIBRARY(COCOA NAMES Cocoa)
               MESSAGE(${COCOA})
               LINK_LIBRARIES(${COCOA} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY})
@@ -197,7 +198,6 @@ ELSE(WIN32)
 			        )
 
         ELSE(APPLE)
-				LINK_LIBRARIES(  pthread ${DL} )
          			ADD_DEFINITIONS("-DGLEW_INIT_OPENGL11_FUNCTIONS=1")
               ADD_DEFINITIONS("-DGLEW_STATIC")
               ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
@@ -393,9 +393,10 @@ ELSE(WIN32 OR APPLE)
                -std=c++11
        )
 
+       FIND_PACKAGE(Threads)
        target_link_libraries(App_PhysicsServer_SharedMemory_VR PRIVATE
                openvr_api
-               pthread
+               ${CMAKE_THREAD_LIBS_INIT}
                ${DL}
                Bullet3Common
                BulletWorldImporter
diff --git a/examples/SimpleOpenGL3/CMakeLists.txt b/examples/SimpleOpenGL3/CMakeLists.txt
index ef0bbb050..4de9fdfd3 100644
--- a/examples/SimpleOpenGL3/CMakeLists.txt
+++ b/examples/SimpleOpenGL3/CMakeLists.txt
@@ -37,7 +37,8 @@ ELSE(WIN32)
 		ADD_DEFINITIONS("-DGLEW_STATIC")
 		ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
 
-		LINK_LIBRARIES( X11 pthread ${DL} Xext)
+		FIND_PACKAGE(Threads)
+		LINK_LIBRARIES( X11 ${CMAKE_THREAD_LIBS_INIT} ${DL} Xext )
 	ENDIF(APPLE)
 ENDIF(WIN32)
 
diff --git a/examples/ThirdPartyLibs/BussIK/LICENSE.txt b/examples/ThirdPartyLibs/BussIK/LICENSE.txt
new file mode 100644
index 000000000..1463ea0ed
--- /dev/null
+++ b/examples/ThirdPartyLibs/BussIK/LICENSE.txt
@@ -0,0 +1,12 @@
+* Author: Samuel R. Buss, sbuss@ucsd.edu.
+* Web page: http://www.math.ucsd.edu/~sbuss/ResearchWeb/ikmethods/index.html
+*
+*
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
diff --git a/examples/ThirdPartyLibs/Eigen/LICENSE.txt b/examples/ThirdPartyLibs/Eigen/LICENSE.txt
new file mode 100644
index 000000000..c6b8841d9
--- /dev/null
+++ b/examples/ThirdPartyLibs/Eigen/LICENSE.txt
@@ -0,0 +1,8 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
diff --git a/examples/ThirdPartyLibs/Gwen/LICENSE.txt b/examples/ThirdPartyLibs/Gwen/LICENSE.txt
new file mode 100644
index 000000000..52bc0f075
--- /dev/null
+++ b/examples/ThirdPartyLibs/Gwen/LICENSE.txt
@@ -0,0 +1,11 @@
+GWEN modified and adapted for the Bullet Physics Library
+Using the Zlib license with permission from Garry Newman
+Copyright (c) 2010 Facepunch Studios
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
diff --git a/examples/ThirdPartyLibs/Wavefront/LICENSE.txt b/examples/ThirdPartyLibs/Wavefront/LICENSE.txt
new file mode 100644
index 000000000..1b708b0fb
--- /dev/null
+++ b/examples/ThirdPartyLibs/Wavefront/LICENSE.txt
@@ -0,0 +1,3 @@
+// Copyright 2012-2013, Syoyo Fujita.
+//
+// Licensed under 2-clause BSD liecense.
diff --git a/examples/ThirdPartyLibs/clsocket/LICENSE.txt b/examples/ThirdPartyLibs/clsocket/LICENSE.txt
new file mode 100644
index 000000000..e0264e4ee
--- /dev/null
+++ b/examples/ThirdPartyLibs/clsocket/LICENSE.txt
@@ -0,0 +1,34 @@
+* Copyright (c) 2007-2009 CarrierLabs, LLC.  All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ *
+ * 3. The name of the author may not be used to endorse or promote products
+ *    derived from this software without specific prior written permission.
+ *
+ * 4. The name "CarrierLabs" must not be used to
+ *    endorse or promote products derived from this software without
+ *    prior written permission. For written permission, please contact
+ *    mark@carrierlabs.com.
+ *
+ * THIS SOFTWARE IS PROVIDED BY MARK CARRIER ``AS IS'' AND ANY
+ * EXPRESSED OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL MARK CARRIER OR
+ * ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
+ * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+ * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
+ * OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/examples/ThirdPartyLibs/cpp_base64/base64.cpp b/examples/ThirdPartyLibs/cpp_base64/base64.cpp
index 40b555c44..b0c002783 100644
--- a/examples/ThirdPartyLibs/cpp_base64/base64.cpp
+++ b/examples/ThirdPartyLibs/cpp_base64/base64.cpp
@@ -136,7 +136,7 @@ std::string base64_decode(std::string const& encoded_string, bool remove_linebre
        std::string copy(encoded_string);
 
        size_t pos=0;
-       while ((pos = copy.find("\n", pos)) != std::string::npos) {
+       while ((pos = copy.find('\n', pos)) != std::string::npos) {
            copy.erase(pos, 1);
        }
 
diff --git a/examples/ThirdPartyLibs/crossguid/LICENSE.txt b/examples/ThirdPartyLibs/crossguid/LICENSE.txt
new file mode 100644
index 000000000..b85fc86b6
--- /dev/null
+++ b/examples/ThirdPartyLibs/crossguid/LICENSE.txt
@@ -0,0 +1,19 @@
+/*
+The MIT License (MIT)
+Copyright (c) 2014 Graeme Hill (http://graemehill.ca)
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+*/
diff --git a/examples/ThirdPartyLibs/enet/LICENSE.txt b/examples/ThirdPartyLibs/enet/LICENSE.txt
new file mode 100644
index 000000000..6906f8eb0
--- /dev/null
+++ b/examples/ThirdPartyLibs/enet/LICENSE.txt
@@ -0,0 +1,7 @@
+Copyright (c) 2002-2020 Lee Salzman
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
diff --git a/examples/ThirdPartyLibs/glad/LICENSE.txt b/examples/ThirdPartyLibs/glad/LICENSE.txt
new file mode 100644
index 000000000..daa649e80
--- /dev/null
+++ b/examples/ThirdPartyLibs/glad/LICENSE.txt
@@ -0,0 +1,61 @@
+ The MIT License (MIT)
+
+    Copyright (c) 2013-2020 David Herberth
+
+    Permission is hereby granted, free of charge, to any person obtaining a copy of
+    this software and associated documentation files (the "Software"), to deal in
+    the Software without restriction, including without limitation the rights to
+    use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+    the Software, and to permit persons to whom the Software is furnished to do so,
+    subject to the following conditions:
+
+    The above copyright notice and this permission notice shall be included in all
+    copies or substantial portions of the Software.
+
+    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+    FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+    COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+    IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+    CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+
+The Khronos Specifications:
+
+    Copyright (c) 2013-2020 The Khronos Group Inc.
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+
+
+The EGL Specification and various headers:
+
+    Copyright (c) 2007-2016 The Khronos Group Inc.
+
+    Permission is hereby granted, free of charge, to any person obtaining a
+    copy of this software and/or associated documentation files (the
+    "Materials"), to deal in the Materials without restriction, including
+    without limitation the rights to use, copy, modify, merge, publish,
+    distribute, sublicense, and/or sell copies of the Materials, and to
+    permit persons to whom the Materials are furnished to do so, subject to
+    the following conditions:
+
+    The above copyright notice and this permission notice shall be included
+    in all copies or substantial portions of the Materials.
+
+    THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+    EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+    MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+    IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+    CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+    TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+    MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
diff --git a/examples/ThirdPartyLibs/lua-5.2.3/LICENSE.txt b/examples/ThirdPartyLibs/lua-5.2.3/LICENSE.txt
new file mode 100644
index 000000000..4e77d0510
--- /dev/null
+++ b/examples/ThirdPartyLibs/lua-5.2.3/LICENSE.txt
@@ -0,0 +1,22 @@
+/******************************************************************************
+* Copyright (C) 1994-2013 Lua.org, PUC-Rio.
+*
+* Permission is hereby granted, free of charge, to any person obtaining
+* a copy of this software and associated documentation files (the
+* "Software"), to deal in the Software without restriction, including
+* without limitation the rights to use, copy, modify, merge, publish,
+* distribute, sublicense, and/or sell copies of the Software, and to
+* permit persons to whom the Software is furnished to do so, subject to
+* the following conditions:
+*
+* The above copyright notice and this permission notice shall be
+* included in all copies or substantial portions of the Software.
+*
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+******************************************************************************/
diff --git a/examples/ThirdPartyLibs/minizip/LICENSE.txt b/examples/ThirdPartyLibs/minizip/LICENSE.txt
new file mode 100644
index 000000000..b29fdeb5a
--- /dev/null
+++ b/examples/ThirdPartyLibs/minizip/LICENSE.txt
@@ -0,0 +1,27 @@
+IO for uncompress .zip files using zlib
+   Version 1.1, February 14h, 2010
+   part of the MiniZip project - ( http://www.winimage.com/zLibDll/minizip.html )
+         Copyright (C) 1998-2010 Gilles Vollant (minizip) ( http://www.winimage.com/zLibDll/minizip.html )
+         Modifications of Unzip for Zip64
+         Copyright (C) 2007-2008 Even Rouault
+         Modifications for Zip64 support on both zip and unzip
+         Copyright (C) 2009-2010 Mathias Svensson ( http://result42.com )
+         For more info read MiniZip_info.txt
+  ------------------------------------------------------------------------------------
+  Decryption code comes from crypt.c by Info-ZIP but has been greatly reduced in terms of
+  compatibility with older software. The following is from the original crypt.c.
+  Code woven in by Terry Thorsen 1/2003.
+  Copyright (c) 1990-2000 Info-ZIP.  All rights reserved.
+  See the accompanying file LICENSE, version 2000-Apr-09 or later
+  (the contents of which are also included in zip.h) for terms of use.
+  If, for some reason, all these files are missing, the Info-ZIP license
+  also may be found at:  ftp://ftp.info-zip.org/pub/infozip/license.html
+        crypt.c (full version) by Info-ZIP.      Last revised:  [see crypt.h]
+  The encryption/decryption parts of this source code (as opposed to the
+  non-echoing password parts) were originally written in Europe.  The
+  whole source package can be freely distributed, including from the USA.
+  (Prior to January 2000, re-export from the US was a violation of US law.)
+        This encryption code is a direct transcription of the algorithm from
+  Roger Schlafly, described by Phil Katz in the file appnote.txt.  This
+  file (appnote.txt) is distributed with the PKZIP program (even in the
+  version without encryption capabilities).
diff --git a/examples/ThirdPartyLibs/optionalX11/LICENSE.txt b/examples/ThirdPartyLibs/optionalX11/LICENSE.txt
new file mode 100644
index 000000000..54f87354d
--- /dev/null
+++ b/examples/ThirdPartyLibs/optionalX11/LICENSE.txt
@@ -0,0 +1,33 @@
+Copyright 1987, 1998  The Open Group
+Permission to use, copy, modify, distribute, and sell this software and its
+documentation for any purpose is hereby granted without fee, provided that
+the above copyright notice appear in all copies and that both that
+copyright notice and this permission notice appear in supporting
+documentation.
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL THE
+OPEN GROUP BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN
+AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+Except as contained in this notice, the name of The Open Group shall not be
+used in advertising or otherwise to promote the sale, use or other dealings
+in this Software without prior written authorization from The Open Group.
+Copyright 1987 by Digital Equipment Corporation, Maynard, Massachusetts.
+                        All Rights Reserved
+Permission to use, copy, modify, and distribute this software and its 
+documentation for any purpose and without fee is hereby granted, 
+provided that the above copyright notice appear in all copies and that
+both that copyright notice and this permission notice appear in 
+supporting documentation, and that the name of Digital not be
+used in advertising or publicity pertaining to distribution of the
+software without specific, written prior permission.  
+DIGITAL DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS SOFTWARE, INCLUDING
+ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS, IN NO EVENT SHALL
+DIGITAL BE LIABLE FOR ANY SPECIAL, INDIRECT OR CONSEQUENTIAL DAMAGES OR
+ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS,
+WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION,
+ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS
+SOFTWARE.
diff --git a/examples/ThirdPartyLibs/serial/LICENSE.txt b/examples/ThirdPartyLibs/serial/LICENSE.txt
new file mode 100644
index 000000000..a0ebfdb0e
--- /dev/null
+++ b/examples/ThirdPartyLibs/serial/LICENSE.txt
@@ -0,0 +1,4 @@
+ * Copyright (c) 2014 Craig Lilley <cralilley@gmail.com>
+ * This software is made available under the terms of the MIT licence.
+ * A copy of the licence can be obtained from:
+ * http://opensource.org/licenses/MIT
diff --git a/examples/ThirdPartyLibs/stb_image/LICENSE.txt b/examples/ThirdPartyLibs/stb_image/LICENSE.txt
new file mode 100644
index 000000000..cfd9f3863
--- /dev/null
+++ b/examples/ThirdPartyLibs/stb_image/LICENSE.txt
@@ -0,0 +1,3 @@
+stbi-1.33 - public domain JPEG/PNG reader - http://nothings.org/stb_image.c
+   when you control the images you're loading
+   no warranty implied; use at your own risk
diff --git a/examples/ThirdPartyLibs/tinyxml2/LICENSE.txt b/examples/ThirdPartyLibs/tinyxml2/LICENSE.txt
new file mode 100644
index 000000000..2cc686617
--- /dev/null
+++ b/examples/ThirdPartyLibs/tinyxml2/LICENSE.txt
@@ -0,0 +1,15 @@
+Original code by Lee Thomason (www.grinninglizard.com)
+This software is provided 'as-is', without any express or implied
+warranty. In no event will the authors be held liable for any
+damages arising from the use of this software.
+Permission is granted to anyone to use this software for any
+purpose, including commercial applications, and to alter it and
+redistribute it freely, subject to the following restrictions:
+1. The origin of this software must not be misrepresented; you must
+not claim that you wrote the original software. If you use this
+software in a product, an acknowledgment in the product documentation
+would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and
+must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source
+distribution.
diff --git a/examples/ThirdPartyLibs/zlib/LICENSE.txt b/examples/ThirdPartyLibs/zlib/LICENSE.txt
new file mode 100644
index 000000000..29597d4b1
--- /dev/null
+++ b/examples/ThirdPartyLibs/zlib/LICENSE.txt
@@ -0,0 +1,21 @@
+zlib.h -- interface of the 'zlib' general purpose compression library
+  version 1.2.8, April 28th, 2013
+  Copyright (C) 1995-2013 Jean-loup Gailly and Mark Adler
+  This software is provided 'as-is', without any express or implied
+  warranty.  In no event will the authors be held liable for any damages
+  arising from the use of this software.
+  Permission is granted to anyone to use this software for any purpose,
+  including commercial applications, and to alter it and redistribute it
+  freely, subject to the following restrictions:
+  1. The origin of this software must not be misrepresented; you must not
+     claim that you wrote the original software. If you use this software
+     in a product, an acknowledgment in the product documentation would be
+     appreciated but is not required.
+  2. Altered source versions must be plainly marked as such, and must not be
+     misrepresented as being the original software.
+  3. This notice may not be removed or altered from any source distribution.
+  Jean-loup Gailly        Mark Adler
+  jloup@gzip.org          madler@alumni.caltech.edu
+  The data format used by the zlib library is described by RFCs (Request for
+  Comments) 1950 to 1952 in the files http://tools.ietf.org/html/rfc1950
+  (zlib format), rfc1951 (deflate format) and rfc1952 (gzip format).
diff --git a/examples/TinyRenderer/model.cpp b/examples/TinyRenderer/model.cpp
index 1f5bebc1b..d0a009130 100644
--- a/examples/TinyRenderer/model.cpp
+++ b/examples/TinyRenderer/model.cpp
@@ -149,7 +149,7 @@ Vec3f Model::vert(int iface, int nthvert)
 void Model::load_texture(std::string filename, const char *suffix, TGAImage &img)
 {
 	std::string texfile(filename);
-	size_t dot = texfile.find_last_of(".");
+	size_t dot = texfile.find_last_of('.');
 	if (dot != std::string::npos)
 	{
 		texfile = texfile.substr(0, dot) + std::string(suffix);
diff --git a/test/BulletDynamics/CMakeLists.txt b/test/BulletDynamics/CMakeLists.txt
index ceeb2b4f4..bdc219d69 100644
--- a/test/BulletDynamics/CMakeLists.txt
+++ b/test/BulletDynamics/CMakeLists.txt
@@ -10,7 +10,8 @@ ADD_DEFINITIONS(-D_VARIADIC_MAX=10)
 LINK_LIBRARIES(BulletDynamics BulletCollision LinearMath gtest)
 
 IF (NOT WIN32)
-	LINK_LIBRARIES(pthread)
+	FIND_PACKAGE(Threads)
+	LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} )
 ENDIF()
 
 ADD_EXECUTABLE(Test_btKinematicCharacterController test_btKinematicCharacterController.cpp)
diff --git a/test/BulletDynamics/pendulum/CMakeLists.txt b/test/BulletDynamics/pendulum/CMakeLists.txt
index 570dc0715..f5001c2b3 100644
--- a/test/BulletDynamics/pendulum/CMakeLists.txt
+++ b/test/BulletDynamics/pendulum/CMakeLists.txt
@@ -14,7 +14,8 @@ LINK_LIBRARIES(
 )
 
 IF (NOT WIN32)
-	LINK_LIBRARIES(		pthread	)
+	FIND_PACKAGE(Threads)
+	LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} )
 ENDIF()
 
 	ADD_EXECUTABLE(Test_BulletDynamics
diff --git a/test/InverseDynamics/CMakeLists.txt b/test/InverseDynamics/CMakeLists.txt
index 292d4c477..6f2aa12ba 100644
--- a/test/InverseDynamics/CMakeLists.txt
+++ b/test/InverseDynamics/CMakeLists.txt
@@ -17,7 +17,8 @@ IF (BULLET_BUILD_RBDL_COMPARE_TEST)
         LINK_LIBRARIES( BulletDynamics BulletCollision  Bullet3Common LinearMath gtest rbdl_urdfreader rbdl)
     ENDIF (MSVC)
     IF (NOT WIN32)
-    	LINK_LIBRARIES(	pthread	)
+        FIND_PACKAGE(Threads)
+        LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} )
     ENDIF()
     
     
@@ -81,7 +82,8 @@ LINK_LIBRARIES(
  BulletInverseDynamicsUtils BulletInverseDynamics Bullet3Common LinearMath gtest 
 )
 IF (NOT WIN32)
-	LINK_LIBRARIES(		pthread	)
+	FIND_PACKAGE(Threads)
+	LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} )
 ENDIF()
 
 
@@ -113,7 +115,8 @@ LINK_LIBRARIES(
 BulletDynamics BulletCollision  BulletInverseDynamicsUtils BulletInverseDynamics Bullet3Common LinearMath gtest 
 )
 IF (NOT WIN32)
-        LINK_LIBRARIES(         pthread )
+	FIND_PACKAGE(Threads)
+	LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} )
 ENDIF()
 
 
@@ -176,7 +179,8 @@ LINK_LIBRARIES(
  BulletInverseDynamicsUtils BulletInverseDynamics Bullet3Common LinearMath gtest 
 )
 IF (NOT WIN32)
-        LINK_LIBRARIES(         pthread )
+	FIND_PACKAGE(Threads)
+	LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} )
 ENDIF()
 
 
diff --git a/test/SharedMemory/CMakeLists.txt b/test/SharedMemory/CMakeLists.txt
index 5835d1991..4be05977c 100644
--- a/test/SharedMemory/CMakeLists.txt
+++ b/test/SharedMemory/CMakeLists.txt
@@ -20,7 +20,8 @@ LINK_LIBRARIES(
 )
 
 IF (NOT WIN32)
-	LINK_LIBRARIES(		pthread	)
+	FIND_PACKAGE(Threads)
+	LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} )
 	IF (NOT APPLE)
 		LINK_LIBRARIES(${DL})
 	ENDIF()
diff --git a/test/collision/CMakeLists.txt b/test/collision/CMakeLists.txt
index b36c151be..33f257d6f 100644
--- a/test/collision/CMakeLists.txt
+++ b/test/collision/CMakeLists.txt
@@ -14,7 +14,8 @@ LINK_LIBRARIES(
 )
 
 IF (NOT WIN32)
-	LINK_LIBRARIES(		pthread	)
+	FIND_PACKAGE(Threads)
+	LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} )
 ENDIF()
 
 	ADD_EXECUTABLE(Test_Collision