diff --git a/newton-4.00/sdk/dCore/ndConvexHull2d.h b/newton-4.00/sdk/dCore/ndConvexHull2d.h
index 717264b88..8d251c77f 100644
--- a/newton-4.00/sdk/dCore/ndConvexHull2d.h
+++ b/newton-4.00/sdk/dCore/ndConvexHull2d.h
@@ -19,8 +19,8 @@
 * 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef __NDCONVEXHULL_2D_H__
-#define __NDG_CONVEXHULL_2D_H__
+#ifndef __ND_CONVEXHULL_2D_H__
+#define __ND_CONVEXHULL_2D_H__
 
 #include "ndCoreStdafx.h"
 #include "ndVector.h"
diff --git a/newton-4.00/sdk/dNewton/dModels/ndUrdfFile.cpp b/newton-4.00/sdk/dNewton/dModels/ndUrdfFile.cpp
index 607446650..f61e418a3 100644
--- a/newton-4.00/sdk/dNewton/dModels/ndUrdfFile.cpp
+++ b/newton-4.00/sdk/dNewton/dModels/ndUrdfFile.cpp
@@ -1115,6 +1115,7 @@ ndJointBilateralConstraint* ndUrdfFile::ImportJoint(const nd::TiXmlNode* const j
 			pivotMatrix = matrix * pivotMatrix;
 		}
 
+		ndAssert(0);
 		const nd::TiXmlElement* const newtonEx = (nd::TiXmlElement*)jointNode->FirstChild("newton");
 		if (newtonEx)
 		{
diff --git a/newton-4.00/sdk/dNewton/ndWorld.cpp b/newton-4.00/sdk/dNewton/ndWorld.cpp
index 69de99e0a..e3efb4936 100644
--- a/newton-4.00/sdk/dNewton/ndWorld.cpp
+++ b/newton-4.00/sdk/dNewton/ndWorld.cpp
@@ -154,6 +154,7 @@ ndWorld::ndWorld()
 
 ndWorld::~ndWorld()
 {
+	DeleteDeferredObjects();
 	CleanUp();
 
 	delete m_scene;
@@ -428,15 +429,9 @@ ndInt32 ndWorld::CompareJointByInvMass(const ndJointBilateralConstraint* const j
 	return 0;
 }
 
-void ndWorld::ThreadFunction()
+void ndWorld::DeleteDeferredObjects()
 {
-	D_TRACKTIME();
-	ndUnsigned64 timeAcc = ndGetTimeInMicroseconds();
-
-	m_inUpdate = true;
-	m_scene->Begin();
-
-	// clean up all batched deletd objects, before update
+	// clean up all batched deleted objects, before update
 	while (m_deletedModels.GetCount())
 	{
 		D_TRACKTIME();
@@ -486,6 +481,16 @@ void ndWorld::ThreadFunction()
 		ndSharedPtr<ndBody> sharedBody(GetBody(body));
 		RemoveBody(sharedBody);
 	}
+}
+
+void ndWorld::ThreadFunction()
+{
+	D_TRACKTIME();
+	ndUnsigned64 timeAcc = ndGetTimeInMicroseconds();
+
+	m_inUpdate = true;
+	m_scene->Begin();
+	DeleteDeferredObjects();
 
 	//m_inUpdate = true;
 	//m_scene->Begin();
diff --git a/newton-4.00/sdk/dNewton/ndWorld.h b/newton-4.00/sdk/dNewton/ndWorld.h
index 615ea9c3c..32ac73c3d 100644
--- a/newton-4.00/sdk/dNewton/ndWorld.h
+++ b/newton-4.00/sdk/dNewton/ndWorld.h
@@ -122,6 +122,7 @@ class ndWorld: public ndClassAlloc
 
 	private:
 	void ThreadFunction();
+	void DeleteDeferredObjects();
 	
 	protected:
 	D_NEWTON_API virtual void UpdateSkeletons();