--- bullet/Makefile.bullet.orig	2010-11-22 17:42:02.000000000 +0100
+++ bullet/Makefile.bullet	2010-11-24 14:12:05.000000000 +0100
@@ -5,7 +5,6 @@
 SVN_PATCH = deprecations.patch quaternion.patch demos.patch no_extras_build.patch getsetRPY.patch gimbal_lock.patch
 SVN_REVISION=-r2038
 
-include $(shell rospack find mk)/svn_checkout.mk
 
 #TARBALL_NAME = bullet-svn$(SVN_REVISION)
 TARBALL_NAME = bullet-2.76-patched2
@@ -23,10 +22,10 @@
 BULLET_TARGETS = LinearMath BulletCollision BulletDynamics BulletSoftBody
 
 # Poor man's installation procedure setup
-BULLET_LIBS = $(SOURCE_DIR)/src/BulletCollision/libBulletCollision.* \
-              $(SOURCE_DIR)/src/BulletDynamics/libBulletDynamics.* \
-              $(SOURCE_DIR)/src/LinearMath/libLinearMath.* \
-              $(SOURCE_DIR)/src/BulletSoftBody/libBulletSoftBody.* 
+BULLET_LIBS = $(SOURCE_DIR)/src/BulletCollision/libBulletCollision.so.2.76 \
+              $(SOURCE_DIR)/src/BulletDynamics/libBulletDynamics.so.2.76 \
+              $(SOURCE_DIR)/src/LinearMath/libLinearMath.so.2.76 \
+              $(SOURCE_DIR)/src/BulletSoftBody/libBulletSoftBody.so.2.76
 
 BULLET_INC_DIRS = . \
 				  BulletCollision/CollisionShapes \
@@ -54,27 +53,43 @@
 	cd $(SOURCE_DIR) && cmake -DCMAKE_INSTALL_PREFIX=$(CURDIR) -DCMAKE_CXX_FLAGS="-fPIC -DBT_USE_DOUBLE_PRECISION" -D BUILD_SHARED_LIBS=on . 
 	# Bullet appears not be parallel-make safe
 	#cd $(SOURCE_DIR) && make $(PARALLEL_JOBS) 
+ifneq ($(MAKE),)
+	cd $(SOURCE_DIR) && $(MAKE) $(BULLET_TARGETS) 
+else
 	cd $(SOURCE_DIR) && make $(BULLET_TARGETS) 
+endif
 	# The 'install' target only works with cmake 2.6 for some reason
 	#cd $(SOURCE_DIR) && make $(PARALLEL_JOBS) install
 	mkdir -p lib
 	cp $(BULLET_LIBS) lib
+	cd lib && ln -s libBulletCollision.so.2.76 libBulletCollision.so
+	cd lib && ln -s libBulletDynamics.so.2.76 libBulletDynamics.so
+	cd lib && ln -s libBulletSoftBody.so.2.76 libBulletSoftBody.so
+	cd lib && ln -s libLinearMath.so.2.76 libLinearMath.so
 	mkdir -p include
 	$(foreach d,$(BULLET_INC_DIRS), mkdir -p include/$(d) && cp $(SOURCE_DIR)/src/$(d)/*.h include/$(d);)
 	touch installed
 
 wiped: Makefile.bullet
+ifneq ($(MAKE),)
+	$(MAKE) -f Makefile.bullet wipe
+else
 	make -f Makefile.bullet wipe
+endif
 	touch wiped
 
 clean:
 	rm -f installed
 	rm -fr lib include
+ifneq ($(MAKE),)
+	-$(MAKE) -C $(SVN_DIR) clean
+	-cd $(SOURCE_DIR) && $(MAKE) clean
+else
 	-make -C $(SVN_DIR) clean
 	-cd $(SOURCE_DIR) && make clean
+endif
 
 wipe: clean
 	-rm -f patched
 	-rm -rf bullet_svn
-	-rm -rf build