diff --git a/src/bounce/collision/gjk/gjk.cpp b/src/bounce/collision/gjk/gjk.cpp
index d31dd27..4210c3a 100644
--- a/src/bounce/collision/gjk/gjk.cpp
+++ b/src/bounce/collision/gjk/gjk.cpp
@@ -249,11 +249,6 @@ void b3Simplex::Solve3(const b3Vec3& Q)
 	b3Barycentric(wBC, B.point, C.point, Q);
 	b3Barycentric(wCA, C.point, A.point, Q);
 	
-	// Test edge regions		
-	float32 wABC[4];
-	b3Barycentric(wABC, A.point, B.point, C.point, Q);
-
-	// Test vertex regions
 	// R A
 	if (wAB[1] <= 0.0f && wCA[0] <= 0.0f)
 	{
@@ -282,6 +277,9 @@ void b3Simplex::Solve3(const b3Vec3& Q)
 	}
 
 	// Test edge regions		
+	float32 wABC[4];
+	b3Barycentric(wABC, A.point, B.point, C.point, Q);
+	
 	// This is used to help testing if the face degenerates 
 	// into an edge.
 	float32 area = wABC[3];
@@ -363,19 +361,6 @@ void b3Simplex::Solve4(const b3Vec3& Q)
 	b3Barycentric(wAD, A.point, D.point, Q);
 	b3Barycentric(wCD, C.point, D.point, Q);
 	b3Barycentric(wDB, D.point, B.point, Q);
-
-	// Test edge regions
-	float32 wACB[4], wABD[4], wADC[4], wBCD[4];
-	b3Barycentric(wACB, A.point, C.point, B.point, Q);
-	b3Barycentric(wABD, A.point, B.point, D.point, Q);
-	b3Barycentric(wADC, A.point, D.point, C.point, Q);
-	b3Barycentric(wBCD, B.point, C.point, D.point, Q);
-	
-	// Test face regions
-	float32 wABCD[5];
-	b3Barycentric(wABCD, A.point, B.point, C.point, D.point, Q);
-
-	// Test vertex regions
 	
 	// R A
 	if (wAB[1] <= 0.0f && wAC[1] <= 0.0f && wAD[1] <= 0.0f)
@@ -414,7 +399,12 @@ void b3Simplex::Solve4(const b3Vec3& Q)
 	}
 
 	// Test edge regions
-	
+	float32 wACB[4], wABD[4], wADC[4], wBCD[4];
+	b3Barycentric(wACB, A.point, C.point, B.point, Q);
+	b3Barycentric(wABD, A.point, B.point, D.point, Q);
+	b3Barycentric(wADC, A.point, D.point, C.point, Q);
+	b3Barycentric(wBCD, B.point, C.point, D.point, Q);
+
 	// R AB
 	if (wABD[2] <= 0.0f && wACB[1] <= 0.0f && wAB[0] > 0.0f && wAB[1] > 0.0f)
 	{
@@ -500,7 +490,9 @@ void b3Simplex::Solve4(const b3Vec3& Q)
 	}
 
 	// Test face regions
-	
+	float32 wABCD[5];
+	b3Barycentric(wABCD, A.point, B.point, C.point, D.point, Q);
+
 	// R ACB 
 	if (wABCD[3] <= 0.0f && wACB[0] > 0.0f && wACB[1] > 0.0f && wACB[2] > 0.0f)
 	{
diff --git a/src/bounce/dynamics/joints/revolute_joint.cpp b/src/bounce/dynamics/joints/revolute_joint.cpp
index 2c75321..d91d979 100644
--- a/src/bounce/dynamics/joints/revolute_joint.cpp
+++ b/src/bounce/dynamics/joints/revolute_joint.cpp
@@ -164,9 +164,9 @@ static B3_FORCE_INLINE b3Vec4 q_to_v(const b3Quat& q)
 	return b3Vec4(q.w, q.x, q.y, q.z);
 }
 
-static b3Mat34 P = P_mat();
-static b3Mat43 PT = b3Transpose(P);
-static b3Mat24 P_hinge = P_hinge_mat();
+static const b3Mat34 P = P_mat();
+static const b3Mat43 PT = b3Transpose(P);
+static const b3Mat24 P_hinge = P_hinge_mat();
 
 void b3RevoluteJointDef::Initialize(b3Body* bA, b3Body* bB,
 	const b3Vec3& axis, const b3Vec3& anchor,
diff --git a/src/bounce/dynamics/joints/weld_joint.cpp b/src/bounce/dynamics/joints/weld_joint.cpp
index 1df83c3..13e7d17 100644
--- a/src/bounce/dynamics/joints/weld_joint.cpp
+++ b/src/bounce/dynamics/joints/weld_joint.cpp
@@ -86,9 +86,9 @@ static b3Vec4 q_to_v(const b3Quat& q)
 	return b3Vec4(q.w, q.x, q.y, q.z);
 }
 
-static b3Mat34 P = P_mat();
-static b3Mat43 PT = b3Transpose(P);
-static b3Mat34 P_lock = P_lock_mat();
+static const b3Mat34 P = P_mat();
+static const b3Mat43 PT = b3Transpose(P);
+static const b3Mat34 P_lock = P_lock_mat();
 
 void b3WeldJointDef::Initialize(b3Body* bA, b3Body* bB, const b3Vec3& anchor)
 {