5 files changed, 15 insertions, 19 deletions
diff --git a/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportPosix.cpp b/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportPosix.cpp
index 02f4ed1631..a03f6dc570 100644
--- a/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportPosix.cpp
+++ b/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportPosix.cpp
@@ -45,14 +45,14 @@ subject to the following restrictions:
 
 int btGetNumHardwareThreads()
 {
-	return btMin<int>(BT_MAX_THREAD_COUNT, std::thread::hardware_concurrency());
+	return btMax(1u, btMin(BT_MAX_THREAD_COUNT, std::thread::hardware_concurrency()));
 }
 
 #else
 
 int btGetNumHardwareThreads()
 {
-	return btMin<int>(BT_MAX_THREAD_COUNT, sysconf(_SC_NPROCESSORS_ONLN));
+	return btMax(1, btMin<int>(BT_MAX_THREAD_COUNT, sysconf(_SC_NPROCESSORS_ONLN)));
 }
 
 #endif
@@ -304,8 +304,8 @@ void btThreadSupportPosix::stopThreads()
 		checkPThreadFunction(sem_post(threadStatus.startSemaphore));
 		checkPThreadFunction(sem_wait(m_mainSemaphore));
 
-		destroySem(threadStatus.startSemaphore);
 		checkPThreadFunction(pthread_join(threadStatus.thread, 0));
+		destroySem(threadStatus.startSemaphore);
 	}
 	destroySem(m_mainSemaphore);
 	m_activeThreadStatus.clear();
diff --git a/thirdparty/bullet/LinearMath/btAlignedObjectArray.h b/thirdparty/bullet/LinearMath/btAlignedObjectArray.h
index b4671bc19f..b3d5d64b58 100644
--- a/thirdparty/bullet/LinearMath/btAlignedObjectArray.h
+++ b/thirdparty/bullet/LinearMath/btAlignedObjectArray.h
@@ -38,13 +38,6 @@ subject to the following restrictions:
 #include <new>  //for placement new
 #endif          //BT_USE_PLACEMENT_NEW
 
-// The register keyword is deprecated in C++11 so don't use it.
-#if __cplusplus > 199711L
-#define BT_REGISTER
-#else
-#define BT_REGISTER register
-#endif
-
 ///The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods
 ///It is developed to replace stl::vector to avoid portability issues, including STL alignment issues to add SIMD/SSE data
 template <typename T>
@@ -209,7 +202,7 @@ public:
 
 	SIMD_FORCE_INLINE void resize(int newsize, const T& fillData = T())
 	{
-		const BT_REGISTER int curSize = size();
+		const int curSize = size();
 
 		if (newsize < curSize)
 		{
@@ -236,7 +229,7 @@ public:
 	}
 	SIMD_FORCE_INLINE T& expandNonInitializing()
 	{
-		const BT_REGISTER int sz = size();
+		const int sz = size();
 		if (sz == capacity())
 		{
 			reserve(allocSize(size()));
@@ -248,7 +241,7 @@ public:
 
 	SIMD_FORCE_INLINE T& expand(const T& fillValue = T())
 	{
-		const BT_REGISTER int sz = size();
+		const int sz = size();
 		if (sz == capacity())
 		{
 			reserve(allocSize(size()));
@@ -263,7 +256,7 @@ public:
 
 	SIMD_FORCE_INLINE void push_back(const T& _Val)
 	{
-		const BT_REGISTER int sz = size();
+		const int sz = size();
 		if (sz == capacity())
 		{
 			reserve(allocSize(size()));
diff --git a/thirdparty/bullet/LinearMath/btMatrixX.h b/thirdparty/bullet/LinearMath/btMatrixX.h
index 9df9e49469..388c57c2d7 100644
--- a/thirdparty/bullet/LinearMath/btMatrixX.h
+++ b/thirdparty/bullet/LinearMath/btMatrixX.h
@@ -263,7 +263,10 @@ struct btMatrixX
 	{
 		{
 			BT_PROFILE("storage=0");
-			btSetZero(&m_storage[0], m_storage.size());
+			if (m_storage.size())
+			{
+				btSetZero(&m_storage[0], m_storage.size());
+			}
 			//memset(&m_storage[0],0,sizeof(T)*m_storage.size());
 			//for (int i=0;i<m_storage.size();i++)
 			//			m_storage[i]=0;
@@ -281,7 +284,7 @@ struct btMatrixX
 		}
 	}
 
-	void printMatrix(const char* msg)
+	void printMatrix(const char* msg) const
 	{
 		printf("%s ---------------------\n", msg);
 		for (int i = 0; i < rows(); i++)
diff --git a/thirdparty/bullet/LinearMath/btScalar.h b/thirdparty/bullet/LinearMath/btScalar.h
index c198bd4b35..ba49d6700b 100644
--- a/thirdparty/bullet/LinearMath/btScalar.h
+++ b/thirdparty/bullet/LinearMath/btScalar.h
@@ -124,7 +124,7 @@ inline int btGetVersion()
 	#ifdef BT_DEBUG
 		#ifdef _MSC_VER
 			#include <stdio.h>
-			#define btAssert(x) { if(!(x)){printf("Assert "__FILE__ ":%u (%s)\n", __LINE__, #x);__debugbreak();	}}
+			#define btAssert(x) { if(!(x)){printf("Assert " __FILE__ ":%u (%s)\n", __LINE__, #x);__debugbreak();	}}
 		#else//_MSC_VER
 			#include <assert.h>
 			#define btAssert assert
@@ -152,7 +152,7 @@ inline int btGetVersion()
 			#ifdef __SPU__
 				#include <spu_printf.h>
 				#define printf spu_printf
-				#define btAssert(x) {if(!(x)){printf("Assert "__FILE__ ":%u ("#x")\n", __LINE__);spu_hcmpeq(0,0);}}
+				#define btAssert(x) {if(!(x)){printf("Assert " __FILE__ ":%u ("#x")\n", __LINE__);spu_hcmpeq(0,0);}}
 			#else
 				#define btAssert assert
 			#endif
diff --git a/thirdparty/bullet/LinearMath/btVector3.h b/thirdparty/bullet/LinearMath/btVector3.h
index 61fd8d1e46..d65ed9808d 100644
--- a/thirdparty/bullet/LinearMath/btVector3.h
+++ b/thirdparty/bullet/LinearMath/btVector3.h
@@ -36,7 +36,7 @@ subject to the following restrictions:
 #pragma warning(disable : 4556)  // value of intrinsic immediate argument '4294967239' is out of range '0 - 255'
 #endif
 
-#define BT_SHUFFLE(x, y, z, w) ((w) << 6 | (z) << 4 | (y) << 2 | (x))
+#define BT_SHUFFLE(x, y, z, w) (((w) << 6 | (z) << 4 | (y) << 2 | (x)) & 0xff)
 //#define bt_pshufd_ps( _a, _mask ) (__m128) _mm_shuffle_epi32((__m128i)(_a), (_mask) )
 #define bt_pshufd_ps(_a, _mask) _mm_shuffle_ps((_a), (_a), (_mask))
 #define bt_splat3_ps(_a, _i) bt_pshufd_ps((_a), BT_SHUFFLE(_i, _i, _i, 3))