diff --git a/SimDynamics/DynamicsEngine/BulletEngine/BulletCoinQtViewer.h b/SimDynamics/DynamicsEngine/BulletEngine/BulletCoinQtViewer.h
index 3c0bd423f4fdff10780071d103214301e1c8608f..6e7fab105a96126ffd3f8925e91ccd12ca1ecd2d 100644
--- a/SimDynamics/DynamicsEngine/BulletEngine/BulletCoinQtViewer.h
+++ b/SimDynamics/DynamicsEngine/BulletEngine/BulletCoinQtViewer.h
@@ -39,6 +39,9 @@
 #include <QtCore/QtGlobal>
 #include <QtGui/QtGui>
 #include <QtCore/QtCore>
+#if QT_VERSION >= 0x050000
+#include <QtWidgets/QFrame>
+#endif
 
 namespace SimDynamics
 {
diff --git a/SimDynamics/DynamicsEngine/BulletEngine/BulletEngine.h b/SimDynamics/DynamicsEngine/BulletEngine/BulletEngine.h
index 46b6dc204ec554b11f2f04a6845a3575464998f3..eabd072f091dd7632e8b42b821b58724af998f14 100644
--- a/SimDynamics/DynamicsEngine/BulletEngine/BulletEngine.h
+++ b/SimDynamics/DynamicsEngine/BulletEngine/BulletEngine.h
@@ -42,7 +42,7 @@ namespace SimDynamics
 
     typedef void (*BulletStepCallback)(void* data, btScalar timeStep);
 
-    class BulletEngineConfig : public DynamicsEngineConfig
+    class SIMDYNAMICS_IMPORT_EXPORT BulletEngineConfig : public DynamicsEngineConfig
     {
     public:
         BulletEngineConfig();
diff --git a/SimDynamics/examples/SimDynamicsViewer/simDynamicsWindow.cpp b/SimDynamics/examples/SimDynamicsViewer/simDynamicsWindow.cpp
index e16dc2a8e4f4d7e51bd45c1eecd62e4e7c6a2f68..4169a7b07ffc07140eee382be1f170c11061e625 100644
--- a/SimDynamics/examples/SimDynamicsViewer/simDynamicsWindow.cpp
+++ b/SimDynamics/examples/SimDynamicsViewer/simDynamicsWindow.cpp
@@ -27,7 +27,7 @@ using namespace std;
 using namespace VirtualRobot;
 using namespace SimDynamics;
 
-SimDynamicsWindow::SimDynamicsWindow(std::string& sRobotFilename, Qt::WFlags /*flags*/)
+SimDynamicsWindow::SimDynamicsWindow(std::string& sRobotFilename)
     : QMainWindow(NULL)
 {
     VR_INFO << " start " << endl;
@@ -585,7 +585,7 @@ void SimDynamicsWindow::updateJointInfo()
         tmp = QString::number(rn->getJointValue(), 'f', 3);
         qJV += tmp;
         info += "jv rn:";
-        std::string a1 = (const char*)tmp.toAscii();
+        std::string a1 = tmp.toStdString();
         info += a1;
 
         qJV += QString(" / ");
@@ -601,7 +601,7 @@ void SimDynamicsWindow::updateJointInfo()
 
         qJV += tmp;
         info += ",\tjv bul:";
-        a1 = (const char*)tmp.toAscii();
+        a1 = tmp.toStdString();
         info += a1;
 
         qTarget = QString("Joint target: ");
@@ -617,7 +617,7 @@ void SimDynamicsWindow::updateJointInfo()
 
         qTarget += tmp;
         info += std::string(",targ:");
-        a1 = (const char*)tmp.toAscii();
+        a1 = tmp.toStdString();
         info += a1;
 
         qVel = QString("Joint velocity: ");
@@ -633,7 +633,7 @@ void SimDynamicsWindow::updateJointInfo()
 
         qVel += tmp;
         info += ",vel:";
-        a1 = (const char*)tmp.toAscii();
+        a1 = tmp.toStdString();
         info += a1;
 
         qVelTarget = QString("Joint velocity target: ");
@@ -649,7 +649,7 @@ void SimDynamicsWindow::updateJointInfo()
 
         qVelTarget += tmp;
         info += ",velTarget:";
-        a1 = (const char*)tmp.toAscii();
+        a1 = tmp.toStdString();
         info += a1;
 
         Eigen::Matrix4f gp = rn->getGlobalPose();
@@ -658,19 +658,19 @@ void SimDynamicsWindow::updateJointInfo()
         tmp = QString::number(gp(0, 3), 'f', 2);
         qGP += tmp;
         info += ",gp:";
-        info += (const char*)tmp.toAscii();
+        info += tmp.toStdString();
 
         qGP += QString("/");
         tmp = QString::number(gp(1, 3), 'f', 2);
         qGP += tmp;
         info += "/";
-        info += (const char*)tmp.toAscii();
+        info += tmp.toStdString();
 
         qGP += QString("/");
         tmp = QString::number(gp(2, 3), 'f', 2);
         qGP += tmp;
         info += "/";
-        info += (const char*)tmp.toAscii();
+        info += tmp.toStdString();
 
         gp = rn->getGlobalPose();
         qVisu = QString("VISU (simox):");
@@ -849,7 +849,7 @@ void SimDynamicsWindow::loadButton()
     QString fileName = QFileDialog::getOpenFileName(this,
                        tr("Select Robot File"), "",
                        tr("Simox Robot File (*.xml)"));
-    std::string f = (const char*)fileName.toAscii();
+    std::string f = fileName.toStdString();
 
     if (RuntimeEnvironment::getDataFileAbsolute(f))
     {
diff --git a/SimDynamics/examples/SimDynamicsViewer/simDynamicsWindow.h b/SimDynamics/examples/SimDynamicsViewer/simDynamicsWindow.h
index c3021bd97ad7f6356e4c74ddd52c9f12b3220053..3381dcd03367b2342acbb601c7140c64d2c3968f 100644
--- a/SimDynamics/examples/SimDynamicsViewer/simDynamicsWindow.h
+++ b/SimDynamics/examples/SimDynamicsViewer/simDynamicsWindow.h
@@ -35,7 +35,7 @@ class SimDynamicsWindow : public QMainWindow
 {
     Q_OBJECT
 public:
-    SimDynamicsWindow(std::string& sRobotFilename, Qt::WFlags flags = 0);
+    SimDynamicsWindow(std::string& sRobotFilename);
     ~SimDynamicsWindow();
 
     /*!< Executes the SoQt mainLoop. You need to call this in order to execute the application. */
diff --git a/VirtualRobot/VirtualRobotTest.h b/VirtualRobot/VirtualRobotTest.h
index 9f6305f06aa3dce8848131322cdfb2e8a9fda4e4..86c09e1cf67a7c2b41c6a8fa24705d12a618e70f 100644
--- a/VirtualRobot/VirtualRobotTest.h
+++ b/VirtualRobot/VirtualRobotTest.h
@@ -29,6 +29,7 @@
 #include <string>
 #include <fstream>
 
+#ifndef WIN32
 struct OutputConfiguration
 {
     OutputConfiguration()
@@ -52,5 +53,6 @@ struct OutputConfiguration
 };
 
 BOOST_GLOBAL_FIXTURE(OutputConfiguration)
+#endif
 
 #endif /* _VirtualRobot_Test_h_ */
diff --git a/VirtualRobot/examples/CameraViewer/showCamWindow.cpp b/VirtualRobot/examples/CameraViewer/showCamWindow.cpp
index 356ce2f96f2f16c019589316fa1a7182f2414287..4e3cc38beccdedf675f7abf8cb855cfc7e3a172c 100644
--- a/VirtualRobot/examples/CameraViewer/showCamWindow.cpp
+++ b/VirtualRobot/examples/CameraViewer/showCamWindow.cpp
@@ -351,7 +351,7 @@ void showCamWindow::selectJoint(int nr)
     }
     else
     {
-        UI.horizontalSliderPos->setValue(500);
+        //UI.horizontalSliderPos->setValue(500);
         UI.horizontalSliderPos->setEnabled(false);
     }