1 files changed, 19 insertions, 15 deletions
diff --git a/thirdparty/bullet/Bullet3Common/b3Scalar.h b/thirdparty/bullet/Bullet3Common/b3Scalar.h
index 0db5eb6f4f..eeb70ed632 100644
--- a/thirdparty/bullet/Bullet3Common/b3Scalar.h
+++ b/thirdparty/bullet/Bullet3Common/b3Scalar.h
@@ -40,8 +40,12 @@ inline int b3GetVersion()
 
 #ifdef _WIN32
 
-#if defined(__MINGW32__) || defined(__CYGWIN__) || (defined(_MSC_VER) && _MSC_VER < 1300)
-
+#if  defined(__GNUC__)	// it should handle both MINGW and CYGWIN
+#define B3_FORCE_INLINE             __inline__ __attribute__((always_inline))
+#define B3_ATTRIBUTE_ALIGNED16(a)   a __attribute__((aligned(16)))
+#define B3_ATTRIBUTE_ALIGNED64(a)   a __attribute__((aligned(64)))
+#define B3_ATTRIBUTE_ALIGNED128(a)  a __attribute__((aligned(128)))
+#elif ( defined(_MSC_VER) && _MSC_VER < 1300 )
 #define B3_FORCE_INLINE inline
 #define B3_ATTRIBUTE_ALIGNED16(a) a
 #define B3_ATTRIBUTE_ALIGNED64(a) a
@@ -67,7 +71,17 @@ inline int b3GetVersion()
 
 #if (defined(_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined(B3_USE_DOUBLE_PRECISION))
 #if (defined(_M_IX86) || defined(_M_X64))
+
+
+#ifdef __clang__
+//#define B3_NO_SIMD_OPERATOR_OVERLOADS
+#define B3_DISABLE_SSE
+#endif //__clang__
+
+#ifndef B3_DISABLE_SSE
 #define B3_USE_SSE
+#endif //B3_DISABLE_SSE
+
 #ifdef B3_USE_SSE
 //B3_USE_SSE_IN_API is disabled under Windows by default, because
 //it makes it harder to integrate Bullet into your application under Windows
@@ -88,17 +102,7 @@ inline int b3GetVersion()
 #ifdef B3_DEBUG
 #ifdef _MSC_VER
 #include <stdio.h>
-#define b3Assert(x)               \
-	{                             \
-		if (!(x))                 \
-		{                         \
-			b3Error(              \
-				"Assert "__FILE__ \
-				":%u (" #x ")\n", \
-				__LINE__);        \
-			__debugbreak();       \
-		}                         \
-	}
+#define b3Assert(x) { if(!(x)){b3Error("Assert " __FILE__ ":%u (%s)\n", __LINE__, #x);__debugbreak();	}}
 #else  //_MSC_VER
 #include <assert.h>
 #define b3Assert assert
@@ -293,7 +297,7 @@ static int b3NanMask = 0x7F800001;
 static int b3InfinityMask = 0x7F800000;
 #define B3_INFINITY_MASK (*(float *)&b3InfinityMask)
 #endif
-
+#ifndef B3_NO_SIMD_OPERATOR_OVERLOADS
 inline __m128 operator+(const __m128 A, const __m128 B)
 {
 	return _mm_add_ps(A, B);
@@ -308,7 +312,7 @@ inline __m128 operator*(const __m128 A, const __m128 B)
 {
 	return _mm_mul_ps(A, B);
 }
-
+#endif //B3_NO_SIMD_OPERATOR_OVERLOADS
 #define b3CastfTo128i(a) (_mm_castps_si128(a))
 #define b3CastfTo128d(a) (_mm_castps_pd(a))
 #define b3CastiTo128f(a) (_mm_castsi128_ps(a))