diff --git a/dart/dynamics/BodyNode.h b/dart/dynamics/BodyNode.h
index 8ff7c5d847db3..a31f7c5126fc0 100644
--- a/dart/dynamics/BodyNode.h
+++ b/dart/dynamics/BodyNode.h
@@ -124,6 +124,8 @@ class BodyNode : public Frame, public SkeletonRefCountingBase
         double _restitutionCoeff = DART_DEFAULT_RESTITUTION_COEFF,
         bool _gravityMode = true);
 
+    virtual ~UniqueProperties() = default;
+
     // To get byte-aligned Eigen vectors
     EIGEN_MAKE_ALIGNED_OPERATOR_NEW
   };
@@ -135,6 +137,8 @@ class BodyNode : public Frame, public SkeletonRefCountingBase
     Properties(
         const Entity::Properties& _entityProperties = Entity::Properties("BodyNode"),
         const UniqueProperties& _bodyNodeProperties = UniqueProperties());
+
+    virtual ~Properties() = default;
   };
 
   /// Destructor
diff --git a/dart/dynamics/Entity.h b/dart/dynamics/Entity.h
index 063d154e68492..153ddcdd6ec9d 100644
--- a/dart/dynamics/Entity.h
+++ b/dart/dynamics/Entity.h
@@ -95,6 +95,8 @@ class Entity : public virtual common::Subject
     /// Constructor
     Properties(const std::string& _name = "",
                const std::vector<ShapePtr>& _vizShapes=std::vector<ShapePtr>());
+
+    virtual ~Properties() = default;
   };
 
   /// Constructor for typical usage
diff --git a/dart/dynamics/SoftBodyNode.h b/dart/dynamics/SoftBodyNode.h
index 85894590154a5..006245ec98fd8 100644
--- a/dart/dynamics/SoftBodyNode.h
+++ b/dart/dynamics/SoftBodyNode.h
@@ -96,6 +96,8 @@ class SoftBodyNode : public BodyNode
         const std::vector<Eigen::Vector3i>& _faces =
                                           std::vector<Eigen::Vector3i>());
 
+    virtual ~UniqueProperties() = default;
+
     /// Add a PointMass to this Properties struct
     void addPointMass(const PointMass::Properties& _properties);
 
@@ -112,6 +114,8 @@ class SoftBodyNode : public BodyNode
         const BodyNode::Properties& _bodyProperties = BodyNode::Properties(),
         const SoftBodyNode::UniqueProperties& _softProperties =
                                             SoftBodyNode::UniqueProperties());
+
+    virtual ~Properties() = default;
   };
 
   /// \brief