diff --git a/GraspPlanning/ContactConeGenerator.cpp b/GraspPlanning/ContactConeGenerator.cpp
index b05581d5c14be8ec0c1ba488250c66200ca4338c..31e84c326e25bd7b9b8a7c12a2a7d2ed3ac0b579 100644
--- a/GraspPlanning/ContactConeGenerator.cpp
+++ b/GraspPlanning/ContactConeGenerator.cpp
@@ -11,9 +11,9 @@
 // **************************************************************
 
 #include "ContactConeGenerator.h"
-#include <math.h>
-#include <stdio.h>
-#include <assert.h>
+#include <cmath>
+#include <cstdio>
+#include <cassert>
 #include <iostream>
 #include <sstream>
 #include <fstream>
diff --git a/GraspPlanning/ConvexHullGenerator.cpp b/GraspPlanning/ConvexHullGenerator.cpp
index 32062cdbf4b9584f6a0e136f863b42eb9323186e..3f030a45dc53788d971ebaf85139bf015c376a20 100644
--- a/GraspPlanning/ConvexHullGenerator.cpp
+++ b/GraspPlanning/ConvexHullGenerator.cpp
@@ -1,9 +1,9 @@
 
 #include "ConvexHullGenerator.h"
 #include <VirtualRobot/Visualization/TriMeshModel.h>
-#include <math.h>
+#include <cmath>
 #include <iostream>
-#include <float.h>
+#include <cfloat>
 
 //#define CONVEXHULL_DEBUG_OUTPUT
 
diff --git a/GraspPlanning/GraspQuality/GraspEvaluationPoseUncertainty.cpp b/GraspPlanning/GraspQuality/GraspEvaluationPoseUncertainty.cpp
index 4dcb65f444fce35ed34bbe1e8f4002b58fcf21de..c2091b751f7e2ccbc61b8b1c9ec3388d6fde65da 100644
--- a/GraspPlanning/GraspQuality/GraspEvaluationPoseUncertainty.cpp
+++ b/GraspPlanning/GraspQuality/GraspEvaluationPoseUncertainty.cpp
@@ -4,7 +4,7 @@
 
 #include <algorithm>
 #include <random>
-#include <float.h>
+#include <cfloat>
 #include <cstdlib>
 
 using namespace Eigen;
diff --git a/GraspPlanning/GraspQuality/GraspQualityMeasureWrenchSpace.cpp b/GraspPlanning/GraspQuality/GraspQualityMeasureWrenchSpace.cpp
index 6d64559d73c7f8b4470824b36c1ac2c63dc81e49..d02c0e2b2b14ef093061e19bef3ec21876adc0f9 100644
--- a/GraspPlanning/GraspQuality/GraspQualityMeasureWrenchSpace.cpp
+++ b/GraspPlanning/GraspQuality/GraspQualityMeasureWrenchSpace.cpp
@@ -18,7 +18,7 @@
 #include <sstream>
 #include <fstream>
 #include <string>
-#include <float.h>
+#include <cfloat>
 // if defined, the inverted contact normals are used
 //#define INVERT_NORMALS
 
diff --git a/GraspPlanning/GraspQuality/GraspQualityMeasureWrenchSpaceNotNormalized.cpp b/GraspPlanning/GraspQuality/GraspQualityMeasureWrenchSpaceNotNormalized.cpp
index 7fc17b04544212c14992021d0367eb058c59d2e0..7433974cb70652bd8836c9d7b3db07ac5ae9e6ac 100644
--- a/GraspPlanning/GraspQuality/GraspQualityMeasureWrenchSpaceNotNormalized.cpp
+++ b/GraspPlanning/GraspQuality/GraspQualityMeasureWrenchSpaceNotNormalized.cpp
@@ -18,7 +18,7 @@
 #include <sstream>
 #include <fstream>
 #include <string>
-#include <float.h>
+#include <cfloat>
 
 
 using namespace std;
diff --git a/GraspPlanning/examples/GraspPlanner/GraspPlannerWindow.cpp b/GraspPlanning/examples/GraspPlanner/GraspPlannerWindow.cpp
index e9acf17b6f8b159e8222a6cd38657a06621386dc..86df6afe78f3ac8ca701a4f968e0dfcdc7ee93b7 100644
--- a/GraspPlanning/examples/GraspPlanner/GraspPlannerWindow.cpp
+++ b/GraspPlanning/examples/GraspPlanner/GraspPlannerWindow.cpp
@@ -21,7 +21,7 @@
 
 #include <Eigen/Geometry>
 
-#include <time.h>
+#include <ctime>
 #include <vector>
 #include <iostream>
 #include <cmath>
diff --git a/GraspPlanning/examples/GraspQuality/GraspQualityWindow.cpp b/GraspPlanning/examples/GraspQuality/GraspQualityWindow.cpp
index 989797f4e6af118667409bbaffb529989b5b13e5..a1e4cbffb0e45d99cc631d3a2562c2250eef83e4 100644
--- a/GraspPlanning/examples/GraspQuality/GraspQualityWindow.cpp
+++ b/GraspPlanning/examples/GraspQuality/GraspQualityWindow.cpp
@@ -16,7 +16,7 @@
 #include <QFileDialog>
 #include <Eigen/Geometry>
 
-#include <time.h>
+#include <ctime>
 #include <vector>
 #include <iostream>
 #include <cmath>
diff --git a/MotionPlanning/ApproachDiscretization.cpp b/MotionPlanning/ApproachDiscretization.cpp
index c2999018db6af6ad8d007c6d3c58c9a10f121787..0ae21624e694dcb43814739ba13821d9b900d37c 100644
--- a/MotionPlanning/ApproachDiscretization.cpp
+++ b/MotionPlanning/ApproachDiscretization.cpp
@@ -1,8 +1,8 @@
 #include "ApproachDiscretization.h"
 #include <iostream>
-#include <time.h>
+#include <ctime>
 #include <algorithm>
-#include <limits.h>
+#include <climits>
 
 using namespace std;
 
diff --git a/MotionPlanning/CSpace/CSpace.cpp b/MotionPlanning/CSpace/CSpace.cpp
index ca450d4210935ff30f39f1296aee835a00e70d72..40a496b56cfa381089e7739f5f842b3867c64dd4 100644
--- a/MotionPlanning/CSpace/CSpace.cpp
+++ b/MotionPlanning/CSpace/CSpace.cpp
@@ -8,11 +8,11 @@
 #include "ConfigurationConstraint.h"
 #include <VirtualRobot/CollisionDetection/CDManager.h>
 #include <VirtualRobot/CollisionDetection/CollisionChecker.h>
-#include "float.h"
+#include <cfloat>
 #include <cmath>
 #include <fstream>
 #include <iomanip>
-#include <time.h>
+#include <ctime>
 #include <VirtualRobot/MathTools.h>
 #include <VirtualRobot/Random.h>
 #define GET_RANDOM_DATA_FROM_64BIT_ADDRESS(a) (int)(0xFF & (long)a) | (0xFF00 & ((long)a >> 16))
diff --git a/MotionPlanning/CSpace/CSpaceSampled.cpp b/MotionPlanning/CSpace/CSpaceSampled.cpp
index 91c7119d0584258be77cd389ea3410f660a7c96b..e56814197bde59a5dc4a8e2b8054e5ec13087e11 100644
--- a/MotionPlanning/CSpace/CSpaceSampled.cpp
+++ b/MotionPlanning/CSpace/CSpaceSampled.cpp
@@ -6,7 +6,7 @@
 #include "VirtualRobot/Robot.h"
 //#include "MathHelpers.h"
 #include <cmath>
-#include "float.h"
+#include <cfloat>
 #include <iostream>
 #include <string>
 
diff --git a/MotionPlanning/CSpace/CSpaceTree.cpp b/MotionPlanning/CSpace/CSpaceTree.cpp
index 126ebb53c8e64a4cac551a52842389b38aaecec4..c2ac803f463daf774a96a498dffb304b0fb5dfeb 100644
--- a/MotionPlanning/CSpace/CSpaceTree.cpp
+++ b/MotionPlanning/CSpace/CSpaceTree.cpp
@@ -6,11 +6,11 @@
 #include "CSpace.h"
 #include "VirtualRobot/Robot.h"
 #include "VirtualRobot/RobotNodeSet.h"
-#include "float.h"
+#include <cfloat>
 #include <cmath>
 #include <fstream>
 #include <iomanip>
-#include <time.h>
+#include <ctime>
 
 using namespace std;
 
diff --git a/MotionPlanning/Planner/BiRrt.cpp b/MotionPlanning/Planner/BiRrt.cpp
index e77b3af19a2f4ba156a8a85321b2e39b0c3841c9..d0ff13d7ee3a1f36ca1a0e31f8c634f1e7e0c1de 100644
--- a/MotionPlanning/Planner/BiRrt.cpp
+++ b/MotionPlanning/Planner/BiRrt.cpp
@@ -5,7 +5,7 @@
 #include "../CSpace/CSpaceTree.h"
 #include "../CSpace/CSpacePath.h"
 #include "VirtualRobot/Robot.h"
-#include <time.h>
+#include <ctime>
 
 
 //#define LOCAL_DEBUG(a) {SABA_INFO << a;};
diff --git a/MotionPlanning/Planner/GraspIkRrt.cpp b/MotionPlanning/Planner/GraspIkRrt.cpp
index df370ecca466e0e2847199f3f350ed0b54aeece1..db8f39885097a6d4b73dd6032ad528690c4a794b 100644
--- a/MotionPlanning/Planner/GraspIkRrt.cpp
+++ b/MotionPlanning/Planner/GraspIkRrt.cpp
@@ -8,7 +8,7 @@
 #include <VirtualRobot/RobotNodeSet.h>
 #include <VirtualRobot/Grasping/GraspSet.h>
 #include <VirtualRobot/Random.h>
-#include <time.h>
+#include <ctime>
 
 
 //#define LOCAL_DEBUG(a) {SABA_INFO << a;};
diff --git a/MotionPlanning/Planner/GraspRrt.cpp b/MotionPlanning/Planner/GraspRrt.cpp
index 74c84bc7aa9092960924a80b2e3145370070811d..9a284ff05c7142330aeabd8c84b1b7cc53620bb3 100644
--- a/MotionPlanning/Planner/GraspRrt.cpp
+++ b/MotionPlanning/Planner/GraspRrt.cpp
@@ -9,8 +9,8 @@
 #include <VirtualRobot/Grasping/BasicGraspQualityMeasure.h>
 #include <VirtualRobot/Random.h>
 #include <algorithm>
-#include <float.h>
-#include <time.h>
+#include <cfloat>
+#include <ctime>
 
 using namespace std;
 
diff --git a/MotionPlanning/Planner/PlanningThread.cpp b/MotionPlanning/Planner/PlanningThread.cpp
index a292cdf69bde32e5c4cc0f5d928bdf277e957f30..18365c3dd4c87a06c8844490ae871c424472e124 100644
--- a/MotionPlanning/Planner/PlanningThread.cpp
+++ b/MotionPlanning/Planner/PlanningThread.cpp
@@ -1,7 +1,7 @@
 
 #include "PlanningThread.h"
 
-#include <time.h>
+#include <ctime>
 #include <iostream>
 
 using namespace std;
diff --git a/MotionPlanning/Planner/Rrt.cpp b/MotionPlanning/Planner/Rrt.cpp
index 7a21baa3b43f738a996798257340f1de1dfecfd7..851c2c04bf877d391d17d69830ac0248e15b245b 100644
--- a/MotionPlanning/Planner/Rrt.cpp
+++ b/MotionPlanning/Planner/Rrt.cpp
@@ -5,7 +5,7 @@
 #include "../CSpace/CSpacePath.h"
 #include "VirtualRobot/Robot.h"
 #include <VirtualRobot/Random.h>
-#include <time.h>
+#include <ctime>
 
 
 using namespace std;
diff --git a/MotionPlanning/PostProcessing/ElasticBandProcessor.cpp b/MotionPlanning/PostProcessing/ElasticBandProcessor.cpp
index b7d24253dd2815edf5e683ab553a1ae16d39e16d..c9223888d8b485a5fa5a1079e05684f6fffa79bb 100644
--- a/MotionPlanning/PostProcessing/ElasticBandProcessor.cpp
+++ b/MotionPlanning/PostProcessing/ElasticBandProcessor.cpp
@@ -3,8 +3,8 @@
 #include "MotionPlanning/CSpace/CSpaceSampled.h"
 #include "MotionPlanning/CSpace/CSpacePath.h"
 #include <vector>
-#include <time.h>
-#include <math.h>
+#include <ctime>
+#include <cmath>
 
 namespace Saba
 {
diff --git a/MotionPlanning/PostProcessing/PathProcessingThread.cpp b/MotionPlanning/PostProcessing/PathProcessingThread.cpp
index 90b784d3c3567859328006102c6f929608ce1112..24171680f5603bb305af6343da60a14145423958 100644
--- a/MotionPlanning/PostProcessing/PathProcessingThread.cpp
+++ b/MotionPlanning/PostProcessing/PathProcessingThread.cpp
@@ -4,7 +4,7 @@
 
 #include "PathProcessingThread.h"
 
-#include <time.h>
+#include <ctime>
 #include <iostream>
 
 using namespace std;
diff --git a/MotionPlanning/PostProcessing/ShortcutProcessor.cpp b/MotionPlanning/PostProcessing/ShortcutProcessor.cpp
index 94e0e817d920f9b42aa2a1fab41ab579e1a97ae6..479e79224f6a63d11c1522cef9faf295149de63f 100644
--- a/MotionPlanning/PostProcessing/ShortcutProcessor.cpp
+++ b/MotionPlanning/PostProcessing/ShortcutProcessor.cpp
@@ -3,8 +3,8 @@
 #include "MotionPlanning/CSpace/CSpaceSampled.h"
 #include "MotionPlanning/CSpace/CSpacePath.h"
 #include <vector>
-#include <time.h>
-#include <math.h>
+#include <ctime>
+#include <cmath>
 
 namespace Saba
 {
diff --git a/MotionPlanning/examples/GraspRRT/GraspRrtWindow.cpp b/MotionPlanning/examples/GraspRRT/GraspRrtWindow.cpp
index 4033f366b4de47eec8645886955c9e193f6b825a..8b4fba8faf5a6190ae01608c9f43c3c7b187f331 100644
--- a/MotionPlanning/examples/GraspRRT/GraspRrtWindow.cpp
+++ b/MotionPlanning/examples/GraspRRT/GraspRrtWindow.cpp
@@ -18,7 +18,7 @@
 #include <MotionPlanning/Visualization/CoinVisualization/CoinRrtWorkspaceVisualization.h>
 #include <QFileDialog>
 #include <Eigen/Geometry>
-#include <time.h>
+#include <ctime>
 #include <vector>
 #include <iostream>
 #include <cmath>
diff --git a/MotionPlanning/examples/IKRRT/IKRRTWindow.cpp b/MotionPlanning/examples/IKRRT/IKRRTWindow.cpp
index 9574ca04bd2f096a9f9e7a6964cf09435ff610d5..685ea80b27007881e52ea5dcf357d351f10757b4 100644
--- a/MotionPlanning/examples/IKRRT/IKRRTWindow.cpp
+++ b/MotionPlanning/examples/IKRRT/IKRRTWindow.cpp
@@ -17,7 +17,7 @@
 #include <QFileDialog>
 #include <Eigen/Geometry>
 
-#include <time.h>
+#include <ctime>
 #include <vector>
 #include <iostream>
 #include <cmath>
diff --git a/MotionPlanning/examples/MultiThreadedPlanning/MTPlanning.cpp b/MotionPlanning/examples/MultiThreadedPlanning/MTPlanning.cpp
index 4450e8e2f3c7ffa973b5756d0ce663075bd06846..91d19587377786ff07fd734a212182db2be964c1 100644
--- a/MotionPlanning/examples/MultiThreadedPlanning/MTPlanning.cpp
+++ b/MotionPlanning/examples/MultiThreadedPlanning/MTPlanning.cpp
@@ -2,7 +2,7 @@
 #include "MTPlanningWindow.h"
 
 
-#include <string.h>
+#include <cstring>
 #include <iostream>
 using namespace std;
 using namespace VirtualRobot;
diff --git a/MotionPlanning/examples/PlatformDemo/PlatformWindow.cpp b/MotionPlanning/examples/PlatformDemo/PlatformWindow.cpp
index da2c062dfb8d61560be68fd0b7e1f0a0c9c3c6c3..9e47e8b328733bc6894959bb446df07f2d9d20dd 100644
--- a/MotionPlanning/examples/PlatformDemo/PlatformWindow.cpp
+++ b/MotionPlanning/examples/PlatformDemo/PlatformWindow.cpp
@@ -19,7 +19,7 @@
 #include <MotionPlanning/Visualization/CoinVisualization/CoinRrtWorkspaceVisualization.h>
 #include <QFileDialog>
 #include <Eigen/Geometry>
-#include <time.h>
+#include <ctime>
 #include <vector>
 #include <iostream>
 #include <cmath>
diff --git a/MotionPlanning/examples/RrtGui/RrtGuiWindow.cpp b/MotionPlanning/examples/RrtGui/RrtGuiWindow.cpp
index b1be17b31f65b2786743c9c7d93399c99d27af3a..52c5777da1354952081827252b49aee2ab929311 100644
--- a/MotionPlanning/examples/RrtGui/RrtGuiWindow.cpp
+++ b/MotionPlanning/examples/RrtGui/RrtGuiWindow.cpp
@@ -17,7 +17,7 @@
 #include <MotionPlanning/Visualization/CoinVisualization/CoinRrtWorkspaceVisualization.h>
 #include <QFileDialog>
 #include <Eigen/Geometry>
-#include <time.h>
+#include <ctime>
 #include <vector>
 #include <iostream>
 #include <cmath>
diff --git a/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGL/DemoApplication.cpp b/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGL/DemoApplication.cpp
index 8aee95256ab755d69a24f33b7e4a99f68f658999..c0e7e55e362a9ddf905e423e2deeb8d34d861bbe 100644
--- a/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGL/DemoApplication.cpp
+++ b/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGL/DemoApplication.cpp
@@ -126,7 +126,7 @@ void DemoApplication::overrideGLShapeDrawer(GL_ShapeDrawer* shapeDrawer)
     m_shapeDrawer = shapeDrawer;
 }
 
-void DemoApplication::myinit(void)
+void DemoApplication::myinit()
 {
 
     GLfloat light_ambient[] = { btScalar(0.2), btScalar(0.2), btScalar(0.2), btScalar(1.0) };
diff --git a/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGL/GLDebugDrawer.cpp b/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGL/GLDebugDrawer.cpp
index 4dd9c2779d75c850ef28d286f57bb9330f3de620..ba0e9ced76dcc1a5cea7fad82776a78425b8c37d 100644
--- a/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGL/GLDebugDrawer.cpp
+++ b/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGL/GLDebugDrawer.cpp
@@ -5,7 +5,7 @@
 
 
 
-#include <stdio.h> //printf debugging
+#include <cstdio> //printf debugging
 GLDebugDrawer::GLDebugDrawer()
     : m_debugMode(0)
 {
diff --git a/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGL/GLDebugFont.cpp b/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGL/GLDebugFont.cpp
index 90540a8b378409165902335e2e4979151b99be44..c6d3d467cc4826c36d039252767e5a58b8dfc1cb 100644
--- a/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGL/GLDebugFont.cpp
+++ b/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGL/GLDebugFont.cpp
@@ -45,8 +45,8 @@ subject to the following restrictions:
 #endif
 #endif
 
-#include <stdio.h>
-#include <string.h> //for memset
+#include <cstdio>
+#include <cstring> //for memset
 
 extern unsigned char sFontData[];
 static bool sTexturesInitialized = false;
diff --git a/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGL/GL_DialogWindow.cpp b/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGL/GL_DialogWindow.cpp
index c4919bd426c929dbd801c20eaccfc4941343999d..68df1a62bc5e01a179b27d399d7a82c172a792a4 100644
--- a/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGL/GL_DialogWindow.cpp
+++ b/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGL/GL_DialogWindow.cpp
@@ -20,7 +20,7 @@ subject to the following restrictions:
 #include "GLDebugFont.h"
 #include "btBulletDynamicsCommon.h"
 
-#include <stdio.h> // for sprintf()
+#include <cstdio> // for sprintf()
 
 #define USE_ARRAYS 1
 
diff --git a/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGL/GL_ShapeDrawer.cpp b/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGL/GL_ShapeDrawer.cpp
index 8927289ccecffbaf0af794512f69321e20f4672d..52e085d47deab9bae2207bb5186631ea16bc6077 100644
--- a/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGL/GL_ShapeDrawer.cpp
+++ b/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGL/GL_ShapeDrawer.cpp
@@ -46,7 +46,7 @@ subject to the following restrictions:
 #include "LinearMath/btIDebugDraw.h"
 //for debugmodes
 
-#include <stdio.h> //printf debugging
+#include <cstdio> //printf debugging
 
 //#define USE_DISPLAY_LISTS 1
 #ifdef USE_DISPLAY_LISTS
diff --git a/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGL/GlutStuff.cpp b/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGL/GlutStuff.cpp
index a37566a37caf31cdef6d5bb61bfa8fdf5285352c..c150cb230b14d2b1c99c28db90e8d4a6d9e2b045 100644
--- a/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGL/GlutStuff.cpp
+++ b/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGL/GlutStuff.cpp
@@ -66,7 +66,7 @@ static void glutMotionFuncCallback(int x, int y)
 }
 
 
-static void glutDisplayCallback(void)
+static void glutDisplayCallback()
 {
     gDemoApplication->displayCallback();
 }
diff --git a/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGL/stb_image.cpp b/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGL/stb_image.cpp
index 263750e6bde4b8f4f5e2a363fbc14e73bfe2627a..118a8f5cffc96609a6dad2a68400b709e196f4dc 100644
--- a/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGL/stb_image.cpp
+++ b/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGL/stb_image.cpp
@@ -3,17 +3,17 @@
 #ifndef STBI_HEADER_FILE_ONLY
 
 #ifndef STBI_NO_HDR
-#include <math.h>  // ldexp
-#include <string.h> // strcmp, strtok
+#include <cmath>  // ldexp
+#include <cstring> // strcmp, strtok
 #endif
 
 #ifndef STBI_NO_STDIO
-#include <stdio.h>
+#include <cstdio>
 #endif
-#include <stdlib.h>
+#include <cstdlib>
 #include <memory.h>
-#include <assert.h>
-#include <stdarg.h>
+#include <cassert>
+#include <cstdarg>
 
 #ifndef _MSC_VER
 #ifdef __cplusplus
@@ -2783,7 +2783,7 @@ return 1;
 
 // @TODO: should statically initialize these for optimal thread safety
 static uint8 default_length[288], default_distance[32];
-static void init_defaults(void)
+static void init_defaults()
 {
 int i;   // use <= to match clearly with spec
 
diff --git a/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGLViewer.cpp b/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGLViewer.cpp
index 40e081fe0873f2eb450e2801731fe6d7dfb46866..f259464ea465acc25dd180c268e7724e93c3b516 100644
--- a/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGLViewer.cpp
+++ b/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGLViewer.cpp
@@ -101,7 +101,7 @@ namespace SimDynamics
 
     }
 
-    void BulletOpenGLViewer::myinit(void)
+    void BulletOpenGLViewer::myinit()
     {
 
         GLfloat light_ambient[] = { btScalar(0.2), btScalar(0.2), btScalar(0.2), btScalar(1.0) };
diff --git a/SimDynamics/examples/SimDynamicsViewer/simDynamicsWindow.cpp b/SimDynamics/examples/SimDynamicsViewer/simDynamicsWindow.cpp
index 1c61f9ac81839e3beddfbe247bb223a541ec408e..a9455f3378bb58fa8d832aaecc5f3eb2de299c3b 100644
--- a/SimDynamics/examples/SimDynamicsViewer/simDynamicsWindow.cpp
+++ b/SimDynamics/examples/SimDynamicsViewer/simDynamicsWindow.cpp
@@ -9,7 +9,7 @@
 #include <QFileDialog>
 #include <Eigen/Geometry>
 
-#include <time.h>
+#include <ctime>
 #include <vector>
 #include <iostream>
 #include <cmath>
diff --git a/VirtualRobot/CollisionDetection/CDManager.cpp b/VirtualRobot/CollisionDetection/CDManager.cpp
index cfc22f584a230113fd39375cf44a6a3e6a5d51fb..be21d421d3e8ac0dd50c0e4d4e0d64aa4d37d27c 100644
--- a/VirtualRobot/CollisionDetection/CDManager.cpp
+++ b/VirtualRobot/CollisionDetection/CDManager.cpp
@@ -3,7 +3,7 @@
 
 #include <iostream>
 #include <set>
-#include <float.h>
+#include <cfloat>
 #include "../Robot.h"
 
 
diff --git a/VirtualRobot/CollisionDetection/PQP/PQP++/BV.cpp b/VirtualRobot/CollisionDetection/PQP/PQP++/BV.cpp
index 31d7ecc447120ffbbbadf27a4f923358e3532c11..7242e75d8da7b2587fc33c864798f971ba7ab329 100644
--- a/VirtualRobot/CollisionDetection/PQP/PQP++/BV.cpp
+++ b/VirtualRobot/CollisionDetection/PQP/PQP++/BV.cpp
@@ -40,8 +40,8 @@
 
 #include <algorithm>
 
-#include <stdlib.h>
-#include <math.h>
+#include <cstdlib>
+#include <cmath>
 
 #include "BV.h"
 #include "MatVec.h"
diff --git a/VirtualRobot/CollisionDetection/PQP/PQP++/Build.cpp b/VirtualRobot/CollisionDetection/PQP/PQP++/Build.cpp
index 64020b437cda26383f18462ea7ee38b604d72ad3..82c953ba4c38ff8cd863cc756af333f36515f894 100644
--- a/VirtualRobot/CollisionDetection/PQP/PQP++/Build.cpp
+++ b/VirtualRobot/CollisionDetection/PQP/PQP++/Build.cpp
@@ -38,9 +38,9 @@
 
 \**************************************************************************/
 
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
+#include <cstdio>
+#include <cstdlib>
+#include <cstring>
 #include "PQP.h"
 #include "Build.h"
 #include "MatVec.h"
diff --git a/VirtualRobot/CollisionDetection/PQP/PQP++/PQP.cpp b/VirtualRobot/CollisionDetection/PQP/PQP++/PQP.cpp
index 9cf945ddf279c745582fefa32a0a4d81cbb61485..e6102b949d97a1f44d7911ded11baf1e8d5d6a4c 100644
--- a/VirtualRobot/CollisionDetection/PQP/PQP++/PQP.cpp
+++ b/VirtualRobot/CollisionDetection/PQP/PQP++/PQP.cpp
@@ -38,8 +38,8 @@
 
 \**************************************************************************/
 
-#include <stdio.h>
-#include <string.h>
+#include <cstdio>
+#include <cstring>
 #include "PQP.h"
 #include "BVTQ.h"
 #include "Build.h"
diff --git a/VirtualRobot/Compression/CompressionBZip2.cpp b/VirtualRobot/Compression/CompressionBZip2.cpp
index 51375babff2a958daffc6d695f70848c7b459eb7..cb595e06c2a16c148b638f8db2ed4e9ce0db7153 100644
--- a/VirtualRobot/Compression/CompressionBZip2.cpp
+++ b/VirtualRobot/Compression/CompressionBZip2.cpp
@@ -4165,7 +4165,7 @@ save_state_and_return:
     }
 
     /*---------------------------------------------------*/
-    int CompressionBZip2::bz_config_ok(void)
+    int CompressionBZip2::bz_config_ok()
     {
         if (sizeof(int)   != 4)
         {
diff --git a/VirtualRobot/Compression/tests/CompressionBZip2Test.cpp b/VirtualRobot/Compression/tests/CompressionBZip2Test.cpp
index 09b584e058194f736fd140d9e93030c0443ead06..703281f944e9f7dd242d40260b7a85fafeaf9baa 100644
--- a/VirtualRobot/Compression/tests/CompressionBZip2Test.cpp
+++ b/VirtualRobot/Compression/tests/CompressionBZip2Test.cpp
@@ -13,7 +13,7 @@
 
 #include <fstream>
 #include <istream>
-#include <time.h>
+#include <ctime>
 
 BOOST_AUTO_TEST_SUITE(Compression)
 
diff --git a/VirtualRobot/Grasping/GraspEditor/GraspEditorWindow.cpp b/VirtualRobot/Grasping/GraspEditor/GraspEditorWindow.cpp
index a6fb2f7953086178dcf1e39a1a259798489afaab..50bd252ba723974dfc3683111db027cc0d488019 100644
--- a/VirtualRobot/Grasping/GraspEditor/GraspEditorWindow.cpp
+++ b/VirtualRobot/Grasping/GraspEditor/GraspEditorWindow.cpp
@@ -14,7 +14,7 @@
 #include <QFileDialog>
 #include <Eigen/Geometry>
 
-#include <time.h>
+#include <ctime>
 #include <vector>
 #include <iostream>
 #include <cmath>
diff --git a/VirtualRobot/IK/CoMIK.cpp b/VirtualRobot/IK/CoMIK.cpp
index 46323ec3ec2506f800df240f91e51fa562dddd97..d68aef43422ba3966183b955ed3e7c00595c9f5c 100644
--- a/VirtualRobot/IK/CoMIK.cpp
+++ b/VirtualRobot/IK/CoMIK.cpp
@@ -5,7 +5,7 @@
 #include "../VirtualRobotException.h"
 #include "../Robot.h"
 
-#include <float.h>
+#include <cfloat>
 
 namespace VirtualRobot
 {
diff --git a/VirtualRobot/IK/DifferentialIK.cpp b/VirtualRobot/IK/DifferentialIK.cpp
index 1e0961d8b1a43d2f95a0206f8e59154c5708c482..4cb382d6eaaa81d1217adf2e5f0299aef6df47ae 100644
--- a/VirtualRobot/IK/DifferentialIK.cpp
+++ b/VirtualRobot/IK/DifferentialIK.cpp
@@ -9,7 +9,7 @@
 
 
 #include <algorithm>
-#include <float.h>
+#include <cfloat>
 
 //#define CHECK_PERFORMANCE
 
diff --git a/VirtualRobot/IK/GazeIK.cpp b/VirtualRobot/IK/GazeIK.cpp
index 61226fe3392b1fb09fc6d73a11a814b69d0f8f02..bd66a54c81eee8e7b4b2bb57ad3909c45e6a14dc 100644
--- a/VirtualRobot/IK/GazeIK.cpp
+++ b/VirtualRobot/IK/GazeIK.cpp
@@ -5,7 +5,7 @@
 #include <VirtualRobot/Random.h>
 
 #include <algorithm>
-#include <float.h>
+#include <cfloat>
 
 using namespace VirtualRobot;
 using namespace std;
diff --git a/VirtualRobot/IK/PoseQualityExtendedManipulability.cpp b/VirtualRobot/IK/PoseQualityExtendedManipulability.cpp
index b680691f94ffe57ff226489a0c8fb74019233b14..8002e89d2282d1e485a6b7776a6a301c1e329b53 100644
--- a/VirtualRobot/IK/PoseQualityExtendedManipulability.cpp
+++ b/VirtualRobot/IK/PoseQualityExtendedManipulability.cpp
@@ -3,7 +3,7 @@
 
 #include <Eigen/Geometry>
 #include <Eigen/Dense>
-#include <float.h>
+#include <cfloat>
 
 
 
diff --git a/VirtualRobot/Import/COLLADA-light/pugixml/pugixml.cpp b/VirtualRobot/Import/COLLADA-light/pugixml/pugixml.cpp
index 941f2b0a70968a4fba855d0c8e99ecbc8b4aaba4..0503c4df42a74895cb1ab7463d9556d70e103679 100644
--- a/VirtualRobot/Import/COLLADA-light/pugixml/pugixml.cpp
+++ b/VirtualRobot/Import/COLLADA-light/pugixml/pugixml.cpp
@@ -15,19 +15,19 @@
 
 #include "pugixml.hpp"
 
-#include <stdlib.h>
-#include <stdio.h>
-#include <string.h>
-#include <assert.h>
-#include <limits.h>
+#include <cstdlib>
+#include <cstdio>
+#include <cstring>
+#include <cassert>
+#include <climits>
 
 #ifdef PUGIXML_WCHAR_MODE
 #	include <wchar.h>
 #endif
 
 #ifndef PUGIXML_NO_XPATH
-#	include <math.h>
-#	include <float.h>
+#	include <cmath>
+#	include <cfloat>
 #	ifdef PUGIXML_NO_EXCEPTIONS
 #		include <setjmp.h>
 #	endif
@@ -150,7 +150,7 @@ namespace pugi
 	typedef unsigned __int32 uint32_t;
 }
 #else
-#	include <stdint.h>
+#	include <cstdint>
 #endif
 
 // Memory allocation
diff --git a/VirtualRobot/Import/MeshImport/STLReader.cpp b/VirtualRobot/Import/MeshImport/STLReader.cpp
index 47e0120203e3e2dbe04a453cba7f425fb456450c..39021a47214b65fffe491e3216e5156cf4236444 100644
--- a/VirtualRobot/Import/MeshImport/STLReader.cpp
+++ b/VirtualRobot/Import/MeshImport/STLReader.cpp
@@ -41,7 +41,7 @@
 // STL
 #include <map>
 
-#include <float.h>
+#include <cfloat>
 #include <fstream>
 #include <stdexcept>
 #include <string>
diff --git a/VirtualRobot/MathTools.cpp b/VirtualRobot/MathTools.cpp
index 4a9ff054e16fe809747a0b09e850231ae87e5488..eef339a9aa0979d8704635abdbe0a815587a0650 100644
--- a/VirtualRobot/MathTools.cpp
+++ b/VirtualRobot/MathTools.cpp
@@ -1,8 +1,8 @@
 
 #include "MathTools.h"
 #include "VirtualRobotException.h"
-#include <float.h>
-#include <string.h>
+#include <cfloat>
+#include <cstring>
 #include <cmath>
 #include <fstream>
 #include <iomanip>
diff --git a/VirtualRobot/SphereApproximator.cpp b/VirtualRobot/SphereApproximator.cpp
index c3b9af9f6cb47e4e5d27a9b37b7e85fff4724ebc..7abf9004976ca26fb75cbc0d3745d49c3793f901 100644
--- a/VirtualRobot/SphereApproximator.cpp
+++ b/VirtualRobot/SphereApproximator.cpp
@@ -8,7 +8,7 @@
 // *****************************************************************
 
 #include "SphereApproximator.h"
-#include <math.h>
+#include <cmath>
 #include <iostream>
 #include "VirtualRobot/Visualization/TriMeshModel.h"
 
diff --git a/VirtualRobot/TimeOptimalTrajectory/TimeOptimalTrajectory.cpp b/VirtualRobot/TimeOptimalTrajectory/TimeOptimalTrajectory.cpp
index 1498d88f7a8fc18220b6a7234b77861fca282b2e..4e595bf1924a2df451159bb46783d7ff0204210b 100644
--- a/VirtualRobot/TimeOptimalTrajectory/TimeOptimalTrajectory.cpp
+++ b/VirtualRobot/TimeOptimalTrajectory/TimeOptimalTrajectory.cpp
@@ -91,7 +91,7 @@ namespace VirtualRobot
         }
     }
 
-    TimeOptimalTrajectory::~TimeOptimalTrajectory(void) {
+    TimeOptimalTrajectory::~TimeOptimalTrajectory() {
     }
 
     void TimeOptimalTrajectory::outputPhasePlaneTrajectory() const {
diff --git a/VirtualRobot/Workspace/Manipulability.cpp b/VirtualRobot/Workspace/Manipulability.cpp
index e9499b6851e662203ffffcb274ddeac069b025e7..721129f19582ebad1701e4b2effbff7c6684a3ec 100644
--- a/VirtualRobot/Workspace/Manipulability.cpp
+++ b/VirtualRobot/Workspace/Manipulability.cpp
@@ -12,8 +12,8 @@
 
 #include <fstream>
 #include <cmath>
-#include <float.h>
-#include <limits.h>
+#include <cfloat>
+#include <climits>
 #include <algorithm>
 #include <thread>
 
diff --git a/VirtualRobot/Workspace/Reachability.cpp b/VirtualRobot/Workspace/Reachability.cpp
index 8fc75ddeeb22a6ef184797dc130c224124832bc9..b93731fed815395be24d24b83e237ab678226f72 100644
--- a/VirtualRobot/Workspace/Reachability.cpp
+++ b/VirtualRobot/Workspace/Reachability.cpp
@@ -7,8 +7,8 @@
 #include "../Grasping/GraspSet.h"
 #include <fstream>
 #include <cmath>
-#include <float.h>
-#include <limits.h>
+#include <cfloat>
+#include <climits>
 
 namespace VirtualRobot
 {
diff --git a/VirtualRobot/Workspace/WorkspaceDataArray.cpp b/VirtualRobot/Workspace/WorkspaceDataArray.cpp
index dad0ecbf3984be6e2917b83812cc649c72fb990a..e2a0c417a0efa23c3d2a49d09fbb0452476f7cd2 100644
--- a/VirtualRobot/Workspace/WorkspaceDataArray.cpp
+++ b/VirtualRobot/Workspace/WorkspaceDataArray.cpp
@@ -2,8 +2,8 @@
 
 #include <fstream>
 #include <cmath>
-#include <float.h>
-#include <limits.h>
+#include <cfloat>
+#include <climits>
 
 namespace VirtualRobot
 {
diff --git a/VirtualRobot/Workspace/WorkspaceRepresentation.cpp b/VirtualRobot/Workspace/WorkspaceRepresentation.cpp
index 4de5f5329d23cdf3de71a536b356e0a34f2b1162..99f3d328a5588d9d677c5ac222f532b5569bcf27 100644
--- a/VirtualRobot/Workspace/WorkspaceRepresentation.cpp
+++ b/VirtualRobot/Workspace/WorkspaceRepresentation.cpp
@@ -16,8 +16,8 @@
 #include <VirtualRobot/Random.h>
 #include <fstream>
 #include <cmath>
-#include <float.h>
-#include <limits.h>
+#include <cfloat>
+#include <climits>
 #include <thread>
 
 namespace VirtualRobot
diff --git a/VirtualRobot/examples/CameraViewer/showCamWindow.cpp b/VirtualRobot/examples/CameraViewer/showCamWindow.cpp
index 5fea4e9cf88e2ada3186d24822f38ac5982f2424..4c646abe8f51e2b0ea1df6295a225383f2201be8 100644
--- a/VirtualRobot/examples/CameraViewer/showCamWindow.cpp
+++ b/VirtualRobot/examples/CameraViewer/showCamWindow.cpp
@@ -8,7 +8,7 @@
 #include <QFileDialog>
 #include <Eigen/Geometry>
 
-#include <time.h>
+#include <ctime>
 #include <vector>
 #include <iostream>
 #include <cmath>
diff --git a/VirtualRobot/examples/ConstrainedIK/ConstrainedIKWindow.cpp b/VirtualRobot/examples/ConstrainedIK/ConstrainedIKWindow.cpp
index d034722ffd7965dd9dcfc475dcd10ec643737fcf..efea278ad204026c578444cb6b3c57d5d77d3a9d 100644
--- a/VirtualRobot/examples/ConstrainedIK/ConstrainedIKWindow.cpp
+++ b/VirtualRobot/examples/ConstrainedIK/ConstrainedIKWindow.cpp
@@ -38,7 +38,7 @@
 #include <Inventor/nodes/SoUnits.h>
 #include <Inventor/nodes/SoSphere.h>
 
-#include <time.h>
+#include <ctime>
 #include <vector>
 #include <iostream>
 #include <sstream>
diff --git a/VirtualRobot/examples/GenericIK/GenericIKWindow.cpp b/VirtualRobot/examples/GenericIK/GenericIKWindow.cpp
index f3fff8b02f78b6b9b21377681e42ab997bdce400..6c67e2dbda04fd1eb0fdf2d4fc6f13f2dfa3aa2a 100644
--- a/VirtualRobot/examples/GenericIK/GenericIKWindow.cpp
+++ b/VirtualRobot/examples/GenericIK/GenericIKWindow.cpp
@@ -8,7 +8,7 @@
 #include "VirtualRobot/IK/constraints/PoseConstraint.h"
 #endif
 
-#include <time.h>
+#include <ctime>
 #include <vector>
 #include <iostream>
 #include <sstream>
diff --git a/VirtualRobot/examples/Jacobi/JacobiWindow.cpp b/VirtualRobot/examples/Jacobi/JacobiWindow.cpp
index f858dbf878fd5a681fd8c445da05f1f597463538..4debe93709fe127248aa1f45386bb49b26eb0858 100644
--- a/VirtualRobot/examples/Jacobi/JacobiWindow.cpp
+++ b/VirtualRobot/examples/Jacobi/JacobiWindow.cpp
@@ -4,7 +4,7 @@
 #include "VirtualRobot/EndEffector/EndEffector.h"
 #include "VirtualRobot/IK/DifferentialIK.h"
 
-#include <time.h>
+#include <ctime>
 #include <vector>
 #include <iostream>
 #include <sstream>
diff --git a/VirtualRobot/examples/ReachabilityMap/ReachabilityMapWindow.cpp b/VirtualRobot/examples/ReachabilityMap/ReachabilityMapWindow.cpp
index b1b7b4c3a94cd6561907a5de4ffbed2f811068fd..22e46151e4ae59d27a2f193a7c08100850cc4f81 100644
--- a/VirtualRobot/examples/ReachabilityMap/ReachabilityMapWindow.cpp
+++ b/VirtualRobot/examples/ReachabilityMap/ReachabilityMapWindow.cpp
@@ -10,7 +10,7 @@
 #include <VirtualRobot/Workspace/WorkspaceGrid.h>
 #include <QFileDialog>
 #include <Eigen/Geometry>
-#include <time.h>
+#include <ctime>
 #include <vector>
 #include <iostream>
 #include <cmath>
diff --git a/VirtualRobot/examples/RobotViewer/showRobotWindow.cpp b/VirtualRobot/examples/RobotViewer/showRobotWindow.cpp
index 0b0a9d9de2176b186e9352c62072c7c126d88d34..1dd70d05902443e1a1c797d114e1eb7c5e46b800 100644
--- a/VirtualRobot/examples/RobotViewer/showRobotWindow.cpp
+++ b/VirtualRobot/examples/RobotViewer/showRobotWindow.cpp
@@ -9,7 +9,7 @@
 #include <QFileDialog>
 #include <Eigen/Geometry>
 
-#include <time.h>
+#include <ctime>
 #include <vector>
 #include <iostream>
 #include <cmath>
diff --git a/VirtualRobot/examples/SceneViewer/showSceneWindow.cpp b/VirtualRobot/examples/SceneViewer/showSceneWindow.cpp
index 83d876bb5498baaf80115ff5352160873192f94d..7680d0f966c7c97f019e9d34a329decc304a017f 100644
--- a/VirtualRobot/examples/SceneViewer/showSceneWindow.cpp
+++ b/VirtualRobot/examples/SceneViewer/showSceneWindow.cpp
@@ -10,7 +10,7 @@
 #include <QFileDialog>
 #include <Eigen/Geometry>
 
-#include <time.h>
+#include <ctime>
 #include <vector>
 #include <iostream>
 #include <cmath>
diff --git a/VirtualRobot/examples/reachability/reachabilityWindow.cpp b/VirtualRobot/examples/reachability/reachabilityWindow.cpp
index fe46da502ee0ea73d4279fa6831c286665591ba2..48ba17b21c970c9c8624ca4030fa409d2d06a5b5 100644
--- a/VirtualRobot/examples/reachability/reachabilityWindow.cpp
+++ b/VirtualRobot/examples/reachability/reachabilityWindow.cpp
@@ -11,7 +11,7 @@
 #include <QFileDialog>
 #include <Eigen/Geometry>
 
-#include <time.h>
+#include <ctime>
 #include <vector>
 #include <iostream>
 #include <cmath>
diff --git a/VirtualRobot/examples/stability/stabilityWindow.cpp b/VirtualRobot/examples/stability/stabilityWindow.cpp
index 82c5edeb43f82af04263648c2ab15e414d915721..f0b5def2d578cdce89ad4452e302d8b83beee382 100644
--- a/VirtualRobot/examples/stability/stabilityWindow.cpp
+++ b/VirtualRobot/examples/stability/stabilityWindow.cpp
@@ -17,7 +17,7 @@
 #include <QFileDialog>
 #include <Eigen/Geometry>
 
-#include <time.h>
+#include <ctime>
 #include <vector>
 #include <iostream>
 #include <cmath>