1 files changed, 27 insertions, 0 deletions
diff --git a/thirdparty/bullet/LinearMath/btThreads.h b/thirdparty/bullet/LinearMath/btThreads.h
index 05fd15ec82..921fd088c0 100644
--- a/thirdparty/bullet/LinearMath/btThreads.h
+++ b/thirdparty/bullet/LinearMath/btThreads.h
@@ -28,6 +28,8 @@ subject to the following restrictions:
 #define BT_OVERRIDE
 #endif
 
+// Don't set this to larger than 64, without modifying btThreadSupportPosix
+// and btThreadSupportWin32. They use UINT64 bit-masks.
 const unsigned int BT_MAX_THREAD_COUNT = 64;  // only if BT_THREADSAFE is 1
 
 // for internal use only
@@ -72,6 +74,8 @@ SIMD_FORCE_INLINE void btMutexLock( btSpinMutex* mutex )
 {
 #if BT_THREADSAFE
     mutex->lock();
+#else
+    (void)mutex;
 #endif // #if BT_THREADSAFE
 }
 
@@ -79,6 +83,8 @@ SIMD_FORCE_INLINE void btMutexUnlock( btSpinMutex* mutex )
 {
 #if BT_THREADSAFE
     mutex->unlock();
+#else
+    (void)mutex;
 #endif // #if BT_THREADSAFE
 }
 
@@ -87,6 +93,7 @@ SIMD_FORCE_INLINE bool btMutexTryLock( btSpinMutex* mutex )
 #if BT_THREADSAFE
     return mutex->tryLock();
 #else
+    (void)mutex;
     return true;
 #endif // #if BT_THREADSAFE
 }
@@ -103,6 +110,17 @@ public:
 };
 
 //
+// btIParallelSumBody -- subclass this to express work that can be done in parallel
+//                       and produces a sum over all loop elements
+//
+class btIParallelSumBody
+{
+public:
+    virtual ~btIParallelSumBody() {}
+    virtual btScalar sumLoop( int iBegin, int iEnd ) const = 0;
+};
+
+//
 // btITaskScheduler -- subclass this to implement a task scheduler that can dispatch work to
 //                     worker threads
 //
@@ -117,6 +135,8 @@ public:
     virtual int getNumThreads() const = 0;
     virtual void setNumThreads( int numThreads ) = 0;
     virtual void parallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body ) = 0;
+    virtual btScalar parallelSum( int iBegin, int iEnd, int grainSize, const btIParallelSumBody& body ) = 0;
+    virtual void sleepWorkerThreadsHint() {}  // hint the task scheduler that we may not be using these threads for a little while
 
     // internal use only
     virtual void activate();
@@ -138,6 +158,9 @@ btITaskScheduler* btGetTaskScheduler();
 // get non-threaded task scheduler (always available)
 btITaskScheduler* btGetSequentialTaskScheduler();
 
+// create a default task scheduler (Win32 or pthreads based)
+btITaskScheduler* btCreateDefaultTaskScheduler();
+
 // get OpenMP task scheduler (if available, otherwise returns null)
 btITaskScheduler* btGetOpenMPTaskScheduler();
 
@@ -151,5 +174,9 @@ btITaskScheduler* btGetPPLTaskScheduler();
 //                 (iterations may be done out of order, so no dependencies are allowed)
 void btParallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body );
 
+// btParallelSum -- call this to dispatch work like a for-loop, returns the sum of all iterations
+//                 (iterations may be done out of order, so no dependencies are allowed)
+btScalar btParallelSum( int iBegin, int iEnd, int grainSize, const btIParallelSumBody& body );
+
 
 #endif