diff --git a/data/multibody.bullet b/data/multibody.bullet
index 32b9e7f37..563b8939b 100644
Binary files a/data/multibody.bullet and b/data/multibody.bullet differ
diff --git a/examples/ExampleBrowser/premake4.lua b/examples/ExampleBrowser/premake4.lua
index b57b05a82..94cd3f7ee 100644
--- a/examples/ExampleBrowser/premake4.lua
+++ b/examples/ExampleBrowser/premake4.lua
@@ -27,7 +27,7 @@ project "App_BulletExampleBrowser"
             initOpenCL("clew")
         end
 
-        links{"BulletExampleBrowserLib","gwen", "OpenGL_Window","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","rbdl_static","LinearMath","BussIK", "Bullet3Common"}
+        links{"BulletExampleBrowserLib","gwen", "OpenGL_Window","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","BussIK", "Bullet3Common"}
         initOpenGL()
         initGlew()
 
@@ -137,13 +137,8 @@ project "App_BulletExampleBrowser"
 		"../SharedMemory/plugins/stablePDPlugin/Shape.cpp",
 		"../SharedMemory/plugins/stablePDPlugin/RBDUtil.cpp",
 		"../SharedMemory/plugins/stablePDPlugin/RBDModel.cpp",
-		"../SharedMemory/plugins/stablePDPlugin/Rand.cpp",
 		"../SharedMemory/plugins/stablePDPlugin/MathUtil.cpp",
 		"../SharedMemory/plugins/stablePDPlugin/KinTree.cpp",
-		"../SharedMemory/plugins/stablePDPlugin/FileUtil.cpp",
-		"../SharedMemory/plugins/stablePDPlugin/json/json_writer.cpp",
-		"../SharedMemory/plugins/stablePDPlugin/json/json_value.cpp",
-		"../SharedMemory/plugins/stablePDPlugin/json/json_reader.cpp",
 		"../SharedMemory/SharedMemoryCommands.h",
 		"../SharedMemory/SharedMemoryPublic.h",
 		"../SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp",
diff --git a/examples/pybullet/examples/humanoidMotionCapture.py b/examples/pybullet/examples/humanoidMotionCapture.py
index 45d943a9a..765a88498 100644
--- a/examples/pybullet/examples/humanoidMotionCapture.py
+++ b/examples/pybullet/examples/humanoidMotionCapture.py
@@ -2,7 +2,11 @@ import pybullet as p
 import json
 import time
 
-p.connect(p.GUI)
+useGUI = True
+if useGUI:
+	p.connect(p.GUI)
+else:
+	p.connect(p.DIRECT)
 
 useZUp = False
 useYUp = not useZUp
@@ -198,15 +202,19 @@ p.getCameraImage(320,200)
 
 while (p.isConnected()):
 
-	
-	erp = p.readUserDebugParameter(erpId)
-	
-	kpMotor = p.readUserDebugParameter(kpMotorId)
-	maxForce=p.readUserDebugParameter(forceMotorId)
+	if useGUI:	
+		erp = p.readUserDebugParameter(erpId)
+		kpMotor = p.readUserDebugParameter(kpMotorId)
+		maxForce=p.readUserDebugParameter(forceMotorId)
+		frameReal = p.readUserDebugParameter(frameId)
+	else:
+		erp = 0.2
+		kpMotor = 0.2
+		maxForce=1000
+		frameReal = 0
+
 	kp=kpMotor
 	
-	
-	frameReal = p.readUserDebugParameter(frameId)
 	frame = int(frameReal)
 	frameNext = frame+1
 	if (frameNext >=  numFrames):
diff --git a/setup.py b/setup.py
index 4f13322bb..c84a0fe53 100644
--- a/setup.py
+++ b/setup.py
@@ -3,6 +3,8 @@ from setuptools import find_packages
 from sys import platform as _platform
 import sys
 import glob
+import os
+
 
 from distutils.core import setup
 from distutils.extension import Extension
@@ -12,6 +14,8 @@ from glob import glob
 # monkey-patch for parallel compilation
 import multiprocessing
 import multiprocessing.pool
+
+
 def parallelCCompile(self, sources, output_dir=None, macros=None, include_dirs=None, debug=0, extra_preargs=None, extra_postargs=None, depends=None):
     # those lines are copied from distutils.ccompiler.CCompiler directly
     macros, objects, extra_postargs, pp_opts, build = self._setup_compile(output_dir, macros, include_dirs, sources, depends, extra_postargs)
@@ -21,7 +25,11 @@ def parallelCCompile(self, sources, output_dir=None, macros=None, include_dirs=N
     def _single_compile(obj):
         try: src, ext = build[obj]
         except KeyError: return
-        self._compile(obj, src, ext, cc_args, extra_postargs, pp_opts)
+        newcc_args = cc_args
+        if _platform == "darwin":
+          if src.endswith('.cpp'):
+            newcc_args = cc_args + ["-stdlib=libc++"]
+        self._compile(obj, src, ext, newcc_args, extra_postargs, pp_opts)
     # convert to list, imap is evaluated on-demand
     pool = multiprocessing.pool.ThreadPool(N)
     list(pool.imap(_single_compile,objects))
@@ -29,7 +37,6 @@ def parallelCCompile(self, sources, output_dir=None, macros=None, include_dirs=N
 import distutils.ccompiler
 distutils.ccompiler.CCompiler.compile=parallelCCompile
 
-
 #see http://stackoverflow.com/a/8719066/295157
 import os
 
@@ -381,7 +388,7 @@ elif _platform == "win32":
     +["examples/ThirdPartyLibs/glad/gl.c"]
 elif _platform == "darwin":
     print("darwin!")
-    os.environ['LDFLAGS'] = '-framework Cocoa -framework OpenGL'
+    os.environ['LDFLAGS'] = '-framework Cocoa -stdlib=libc++ -framework OpenGL'
     CXX_FLAGS += '-DB3_NO_PYTHON_FRAMEWORK '
     CXX_FLAGS += '-DHAS_SOCKLEN_T '
     CXX_FLAGS += '-D_DARWIN '