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EDIT: After spending a bit of time understanding the code I wrote I still don't know what is wrong with it. This is the base class from which I derived my class: ///ContactResultCallback is used to report contact points struct ContactResultCallback { short int m_collisionFilterGroup; short int m_collisionFilterMask; ContactResultCallback() :m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter), m_collisionFilterMask(btBroadphaseProxy::AllFilter) { } virtual ~ContactResultCallback() { } virtual bool needsCollision(btBroadphaseProxy* proxy0) const { bool collides = (proxy0->m_collisionFilterGroup & m_collisionFilterMask) != 0; collides = collides && (m_collisionFilterGroup & proxy0->m_collisionFilterMask); return collides; } virtual btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1) = 0; }; Now here is my derived class: class DisablePairCollision : public btCollisionWorld::ContactResultCallback { public: virtual btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObject* colObj0, int32_t partId0, int32_t index0, const btCollisionObject* colObj1, int32_t partId1, int32_t index1); btDiscreteDynamicsWorld* DynamicsWorld; }; And below is where I implement the main function. Still not sure why I'm getting this error. I was using the code below on windows with both vc2010 and code blocks without a problem: btScalar DisablePairCollision::addSingleResult(btManifoldPoint& cp, const btCollisionObject* colObj0, int32_t partId0, int32_t index0, const btCollisionObject* colObj1, int32_t partId1, int32_t index1) { // Create an identity matrix. btTransform frame; frame.setIdentity(); // C

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