9 files changed, 22 insertions, 17 deletions
diff --git a/thirdparty/bullet/LinearMath/btAlignedAllocator.cpp b/thirdparty/bullet/LinearMath/btAlignedAllocator.cpp
index 39b302b600..be8f8aa6d0 100644
--- a/thirdparty/bullet/LinearMath/btAlignedAllocator.cpp
+++ b/thirdparty/bullet/LinearMath/btAlignedAllocator.cpp
@@ -138,7 +138,7 @@ struct btDebugPtrMagic
 	};
 };
 
-void *btAlignedAllocInternal(size_t size, int alignment, int line, char *filename)
+void *btAlignedAllocInternal(size_t size, int alignment, int line, const char *filename)
 {
 	if (size == 0)
 	{
@@ -195,7 +195,7 @@ void *btAlignedAllocInternal(size_t size, int alignment, int line, char *filenam
 	return (ret);
 }
 
-void btAlignedFreeInternal(void *ptr, int line, char *filename)
+void btAlignedFreeInternal(void *ptr, int line, const char *filename)
 {
 	void *real;
 
diff --git a/thirdparty/bullet/LinearMath/btAlignedAllocator.h b/thirdparty/bullet/LinearMath/btAlignedAllocator.h
index ce4d3585f1..971f62bfb0 100644
--- a/thirdparty/bullet/LinearMath/btAlignedAllocator.h
+++ b/thirdparty/bullet/LinearMath/btAlignedAllocator.h
@@ -35,9 +35,9 @@ int btDumpMemoryLeaks();
 #define btAlignedFree(ptr) \
 	btAlignedFreeInternal(ptr, __LINE__, __FILE__)
 
-void* btAlignedAllocInternal(size_t size, int alignment, int line, char* filename);
+void* btAlignedAllocInternal(size_t size, int alignment, int line, const char* filename);
 
-void btAlignedFreeInternal(void* ptr, int line, char* filename);
+void btAlignedFreeInternal(void* ptr, int line, const char* filename);
 
 #else
 void* btAlignedAllocInternal(size_t size, int alignment);
diff --git a/thirdparty/bullet/LinearMath/btConvexHullComputer.cpp b/thirdparty/bullet/LinearMath/btConvexHullComputer.cpp
index 8bbfdc5f25..12125fd2de 100644
--- a/thirdparty/bullet/LinearMath/btConvexHullComputer.cpp
+++ b/thirdparty/bullet/LinearMath/btConvexHullComputer.cpp
@@ -105,7 +105,7 @@ public:
 
 		Point64 cross(const Point32& b) const
 		{
-			return Point64(y * b.z - z * b.y, z * b.x - x * b.z, x * b.y - y * b.x);
+			return Point64(((int64_t)y) * b.z - ((int64_t)z) * b.y, ((int64_t)z) * b.x - ((int64_t)x) * b.z, ((int64_t)x) * b.y - ((int64_t)y) * b.x);
 		}
 
 		Point64 cross(const Point64& b) const
@@ -115,7 +115,7 @@ public:
 
 		int64_t dot(const Point32& b) const
 		{
-			return x * b.x + y * b.y + z * b.z;
+			return ((int64_t)x) * b.x + ((int64_t)y) * b.y + ((int64_t)z) * b.z;
 		}
 
 		int64_t dot(const Point64& b) const
@@ -2673,6 +2673,7 @@ btScalar btConvexHullComputer::compute(const void* coords, bool doubleCoords, in
 	}
 
 	vertices.resize(0);
+	original_vertex_index.resize(0);
 	edges.resize(0);
 	faces.resize(0);
 
@@ -2683,6 +2684,7 @@ btScalar btConvexHullComputer::compute(const void* coords, bool doubleCoords, in
 	{
 		btConvexHullInternal::Vertex* v = oldVertices[copied];
 		vertices.push_back(hull.getCoordinates(v));
+		original_vertex_index.push_back(v->point.index);
 		btConvexHullInternal::Edge* firstEdge = v->edges;
 		if (firstEdge)
 		{
diff --git a/thirdparty/bullet/LinearMath/btConvexHullComputer.h b/thirdparty/bullet/LinearMath/btConvexHullComputer.h
index cba684f2dc..18b26eea9a 100644
--- a/thirdparty/bullet/LinearMath/btConvexHullComputer.h
+++ b/thirdparty/bullet/LinearMath/btConvexHullComputer.h
@@ -66,6 +66,9 @@ public:
 	// Vertices of the output hull
 	btAlignedObjectArray<btVector3> vertices;
 
+	// The original vertex index in the input coords array
+	btAlignedObjectArray<int> original_vertex_index;
+
 	// Edges of the output hull
 	btAlignedObjectArray<Edge> edges;
 
diff --git a/thirdparty/bullet/LinearMath/btIDebugDraw.h b/thirdparty/bullet/LinearMath/btIDebugDraw.h
index 82ec19a69b..df4db2ff5a 100644
--- a/thirdparty/bullet/LinearMath/btIDebugDraw.h
+++ b/thirdparty/bullet/LinearMath/btIDebugDraw.h
@@ -4,8 +4,8 @@ Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
 subject to the following restrictions:
 
 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
@@ -21,7 +21,7 @@ subject to the following restrictions:
 
 ///The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
 ///Typical use case: create a debug drawer object, and assign it to a btCollisionWorld or btDynamicsWorld using setDebugDrawer and call debugDrawWorld.
-///A class that implements the btIDebugDraw interface has to implement the drawLine method at a minimum.
+///A class that implements the btIDebugDraw interface will need to provide non-empty implementations of the the drawLine and getDebugMode methods at a minimum.
 ///For color arguments the X,Y,Z components refer to Red, Green and Blue each in the range [0..1]
 class btIDebugDraw
 {
diff --git a/thirdparty/bullet/LinearMath/btQuickprof.cpp b/thirdparty/bullet/LinearMath/btQuickprof.cpp
index 86fd1d7812..33b51eb763 100644
--- a/thirdparty/bullet/LinearMath/btQuickprof.cpp
+++ b/thirdparty/bullet/LinearMath/btQuickprof.cpp
@@ -720,6 +720,9 @@ void btLeaveProfileZoneDefault()
   #define BT_HAVE_TLS 1
 #elif __linux__
   #define BT_HAVE_TLS 1
+#elif defined(__FreeBSD__) || defined(__NetBSD__)
+  // TODO: At the moment disabling purposely OpenBSD, albeit tls support exists but not fully functioning
+  #define BT_HAVE_TLS 1
 #endif
 
 // __thread is broken on Andorid clang until r12b. See
diff --git a/thirdparty/bullet/LinearMath/btReducedVector.h b/thirdparty/bullet/LinearMath/btReducedVector.h
index 83b5e581e5..313a4271f0 100644
--- a/thirdparty/bullet/LinearMath/btReducedVector.h
+++ b/thirdparty/bullet/LinearMath/btReducedVector.h
@@ -267,7 +267,7 @@ public:
         std::sort(tuples.begin(), tuples.end());
         btAlignedObjectArray<int> new_indices;
         btAlignedObjectArray<btVector3> new_vecs;
-        for (int i = 0; i < tuples.size(); ++i)
+        for (size_t i = 0; i < tuples.size(); ++i)
         {
             new_indices.push_back(tuples[i].b);
             new_vecs.push_back(m_vecs[tuples[i].a]);
diff --git a/thirdparty/bullet/LinearMath/btScalar.h b/thirdparty/bullet/LinearMath/btScalar.h
index 86d94e8974..b239217bb6 100644
--- a/thirdparty/bullet/LinearMath/btScalar.h
+++ b/thirdparty/bullet/LinearMath/btScalar.h
@@ -25,7 +25,7 @@ subject to the following restrictions:
 #include <float.h>
 
 /* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/
-#define BT_BULLET_VERSION 289
+#define BT_BULLET_VERSION 317
 
 inline int btGetVersion()
 {
diff --git a/thirdparty/bullet/LinearMath/btSerializer.h b/thirdparty/bullet/LinearMath/btSerializer.h
index 2ee712047f..f18442f23d 100644
--- a/thirdparty/bullet/LinearMath/btSerializer.h
+++ b/thirdparty/bullet/LinearMath/btSerializer.h
@@ -479,9 +479,9 @@ public:
 			buffer[8] = 'V';
 		}
 
-		buffer[9] = '2';
-		buffer[10] = '8';
-		buffer[11] = '9';
+		buffer[9] = '3';
+		buffer[10] = '1';
+		buffer[11] = '7';
 	}
 
 	virtual void startSerialization()
@@ -499,7 +499,6 @@ public:
 		writeDNA();
 
 		//if we didn't pre-allocate a buffer, we need to create a contiguous buffer now
-		int mysize = 0;
 		if (!m_totalSize)
 		{
 			if (m_buffer)
@@ -511,14 +510,12 @@ public:
 			unsigned char* currentPtr = m_buffer;
 			writeHeader(m_buffer);
 			currentPtr += BT_HEADER_LENGTH;
-			mysize += BT_HEADER_LENGTH;
 			for (int i = 0; i < m_chunkPtrs.size(); i++)
 			{
 				int curLength = sizeof(btChunk) + m_chunkPtrs[i]->m_length;
 				memcpy(currentPtr, m_chunkPtrs[i], curLength);
 				btAlignedFree(m_chunkPtrs[i]);
 				currentPtr += curLength;
-				mysize += curLength;
 			}
 		}