diff --git a/.travis.yml b/.travis.yml
index d440860711d9b..e1f0ecdfa832e 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -13,8 +13,8 @@ compiler:
   - clang
 
 env:
-  - BUILD_TYPE=Debug   COVERALLS=ON
-  - BUILD_TYPE=Release COVERALLS=OFF
+  - BUILD_TYPE=Debug   TREAT_WARNINGS_AS_ERRORS=ON COVERALLS=ON
+  - BUILD_TYPE=Release TREAT_WARNINGS_AS_ERRORS=ON COVERALLS=OFF
 
 matrix:
   exclude:
@@ -27,7 +27,7 @@ install:
 
 script:
   - mkdir build && cd build
-  - cmake -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DDART_COVERALLS=$COVERALLS ..
+  - cmake -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DDART_TREAT_WARNINGS_AS_ERRORS=$TREAT_WARNINGS_AS_ERRORS -DDART_COVERALLS=$COVERALLS ..
   - make -j4 all tutorials examples tests test
   - if [ $COVERALLS = ON ] && [ "$TRAVIS_OS_NAME" = "linux" ]; then make -j4 coveralls; fi
 
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 29170eac44a20..c8436e8ebfe63 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -72,6 +72,7 @@ endif()
 option(DART_BUILD_GUI_OSG "Build osgDart library" ON)
 option(DART_COVERALLS "Turn on coveralls support" OFF)
 option(DART_COVERALLS_UPLOAD "Upload the generated coveralls json" ON)
+option(DART_TREAT_WARNINGS_AS_ERRORS "Treat warnings as errors" OFF)
 
 if(DART_COVERALLS)
   include(Coveralls)
@@ -141,6 +142,9 @@ if(MSVC)
   if(MSVC_VERSION VERSION_LESS 1900)
     message(FATAL_ERROR "${PROJECT_NAME} requires VS 2015 or greater.")
   endif()
+  if(DART_TREAT_WARNINGS_AS_ERRORS)
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /WX")
+  endif()
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /MP4")
   set(CMAKE_EXE_LINKER_FLAGS_RELEASE "/LTCG /INCREMENTAL:NO")
   if(NOT DART_MSVC_DEFAULT_OPTIONS)
@@ -148,6 +152,9 @@ if(MSVC)
     set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} ${DART_RUNTIME_LIBRARY} /Zi /GL /Gy /W1 /EHsc /arch:SSE2")
   endif(NOT DART_MSVC_DEFAULT_OPTIONS)
 elseif(CMAKE_COMPILER_IS_GNUCXX)
+  if(DART_TREAT_WARNINGS_AS_ERRORS)
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Werror")
+  endif()
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -msse2 -fPIC")
   execute_process(
     COMMAND ${CMAKE_CXX_COMPILER} -dumpversion OUTPUT_VARIABLE GCC_VERSION)
@@ -162,6 +169,11 @@ elseif(CMAKE_COMPILER_IS_GNUCXX)
   set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "${CMAKE_CXX_FLAGS_RELEASE} ${CMAKE_CXX_FLAGS_DEBUG}")
   set(CMAKE_CXX_FLAGS_PROFILE "${CMAKE_CXX_FLAGS_DEBUG} -pg")
 elseif("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
+  if(DART_TREAT_WARNINGS_AS_ERRORS)
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Werror -Wno-error=deprecated-declarations")
+    # Turn warning "deprecated-declarations" into an warning even if -Werror is
+    # specified until we abandon glut.
+  endif()
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -msse2 -fPIC")
   execute_process(
     COMMAND ${CMAKE_CXX_COMPILER} -dumpversion OUTPUT_VARIABLE CLANG_VERSION)
diff --git a/dart/gui/OpenGLRenderInterface.h b/dart/gui/OpenGLRenderInterface.h
index 51ec36ed0424f..14468a38fb01a 100644
--- a/dart/gui/OpenGLRenderInterface.h
+++ b/dart/gui/OpenGLRenderInterface.h
@@ -89,7 +89,7 @@ class OpenGLRenderInterface : public RenderInterface {
     void drawCube(const Eigen::Vector3d& _size) override;
     void drawCylinder(double _radius, double _height) override;
     void drawMesh(const Eigen::Vector3d& _scale, const aiScene* _mesh) override;
-    void drawSoftMesh(const aiMesh* mesh);
+    void drawSoftMesh(const aiMesh* mesh) override;
     void drawList(GLuint index) override;
     void drawLineSegments(const std::vector<Eigen::Vector3d>& _vertices,
                                   const Eigen::aligned_vector<Eigen::Vector2i>& _connections) override;
diff --git a/dart/gui/osg/TrackballManipulator.h b/dart/gui/osg/TrackballManipulator.h
index 2bc2ae197a58a..8eddbf8d8db85 100644
--- a/dart/gui/osg/TrackballManipulator.h
+++ b/dart/gui/osg/TrackballManipulator.h
@@ -44,11 +44,11 @@ namespace gui {
 namespace osg {
 
 #define DART_META_Object(library,name) \
-        virtual ::osg::Object* cloneType() const { return new name (); } \
-        virtual ::osg::Object* clone(const ::osg::CopyOp& copyop) const { return new name (*this,copyop); } \
-        virtual bool isSameKindAs(const ::osg::Object* obj) const { return dynamic_cast<const name *>(obj)!=NULL; } \
-        virtual const char* libraryName() const { return #library; }\
-        virtual const char* className() const { return #name; }
+        ::osg::Object* cloneType() const override { return new name (); } \
+        ::osg::Object* clone(const ::osg::CopyOp& copyop) const override { return new name (*this,copyop); } \
+        bool isSameKindAs(const ::osg::Object* obj) const override { return dynamic_cast<const name *>(obj)!=NULL; } \
+        const char* libraryName() const override { return #library; }\
+        const char* className() const override { return #name; }
 // TODO(JS): Copied from osg/Object. Due to the namespace conflict between osg
 // and dart::gui::osg, we need to explicitly specify the root namespace osg as
 // ::osg