diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h
index be9eca6..ec40c96 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h
@@ -15,7 +15,7 @@ subject to the following restrictions:
 
 
 /**
- * @mainpage Bullet Documentation
+ * @page Bullet Documentation
  *
  * @section intro_sec Introduction
  * Bullet is a Collision Detection and Rigid Body Dynamics Library. The Library is Open Source and free for commercial use, under the ZLib license ( http://opensource.org/licenses/zlib-license.php ).
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp
index 36dd043..57eb817 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp
@@ -579,14 +579,10 @@ btCollisionShape* btCollisionWorldImporter::convertCollisionShape(  btCollisionS
 				btCompoundShapeData* compoundData = (btCompoundShapeData*)shapeData;
 				btCompoundShape* compoundShape = createCompoundShape();
 
-				btCompoundShapeChildData* childShapeDataArray = &compoundData->m_childShapePtr[0];
-
 
 				btAlignedObjectArray<btCollisionShape*> childShapes;
 				for (int i=0;i<compoundData->m_numChildShapes;i++)
 				{
-					btCompoundShapeChildData* ptr = &compoundData->m_childShapePtr[i];
-
 					btCollisionShapeData* cd = compoundData->m_childShapePtr[i].m_childShape;
 
 					btCollisionShape* childShape = convertCollisionShape(cd);
diff --git a/extern/bullet2/src/BulletDynamics/Character/btKinematicCharacterController.cpp b/extern/bullet2/src/BulletDynamics/Character/btKinematicCharacterController.cpp
index 57fc119..31faf1d 100644
--- a/extern/bullet2/src/BulletDynamics/Character/btKinematicCharacterController.cpp
+++ b/extern/bullet2/src/BulletDynamics/Character/btKinematicCharacterController.cpp
@@ -29,14 +29,11 @@ subject to the following restrictions:
 static btVector3
 getNormalizedVector(const btVector3& v)
 {
-	btScalar l = v.length();
-	btVector3 n = v;
-	if (l < SIMD_EPSILON) {
-		n.setValue(0,0,0);
-	} else {
-		n /= l;
-	}
+	btVector3 n(0, 0, 0);
 
+	if (v.length() > SIMD_EPSILON) {
+		n = v.normalized();
+	}
 	return n;
 }
 
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverBody.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverBody.h
index 27ccefe..8e4456e 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverBody.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverBody.h
@@ -37,8 +37,13 @@ struct	btSimdScalar
 	{
 
 	}
-
+/* workaround for clang 3.4 ( == apple clang 5.1 ) issue, friction would fail with forced inlining */
+#if (defined(__clang__) && defined(__apple_build_version__) &&  (__clang_major__ == 5) && (__clang_minor__ == 1)) \
+|| (defined(__clang__) && !defined(__apple_build_version__) && (__clang_major__ == 3) && (__clang_minor__ == 4))
+	inline __attribute__ ((noinline)) btSimdScalar(float	fl)
+#else
 	SIMD_FORCE_INLINE	btSimdScalar(float	fl)
+#endif
 	:m_vec128 (_mm_set1_ps(fl))
 	{
 	}
diff --git a/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBody.cpp b/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBody.cpp
index 5d62da7..fcd312e 100644
--- a/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBody.cpp
+++ b/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBody.cpp
@@ -28,7 +28,6 @@
 #include "btMultiBodyJointFeedback.h"
 #include "LinearMath/btTransformUtil.h"
 #include "LinearMath/btSerializer.h"
-#include "Bullet3Common/b3Logging.h"
 // #define INCLUDE_GYRO_TERM 
 
 ///todo: determine if we need these options. If so, make a proper API, otherwise delete those globals
@@ -1732,7 +1731,6 @@ void btMultiBody::goToSleep()
 
 void btMultiBody::checkMotionAndSleepIfRequired(btScalar timestep)
 {
-	int num_links = getNumLinks();
 	extern bool gDisableDeactivation;
     if (!m_canSleep || gDisableDeactivation) 
 	{
diff --git a/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp b/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
index 8a034b3..4f66b20 100644
--- a/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
+++ b/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
@@ -809,7 +809,6 @@ static void applyJointFeedback(btMultiBodyJacobianData& data, const btMultiBodyS
 }
 #endif
 
-#include "Bullet3Common/b3Logging.h"
 void btMultiBodyConstraintSolver::writeBackSolverBodyToMultiBody(btMultiBodySolverConstraint& c, btScalar deltaTime)
 {
 #if 1 
diff --git a/extern/bullet2/src/BulletSoftBody/btSparseSDF.h b/extern/bullet2/src/BulletSoftBody/btSparseSDF.h
index bcf0c79..8992ddb 100644
--- a/extern/bullet2/src/BulletSoftBody/btSparseSDF.h
+++ b/extern/bullet2/src/BulletSoftBody/btSparseSDF.h
@@ -185,7 +185,6 @@ struct	btSparseSdf
 		{
 			++nprobes;		
 			++ncells;
-			int sz = sizeof(Cell);
 			if (ncells>m_clampCells)
 			{
 				static int numResets=0;
diff --git a/extern/bullet2/src/LinearMath/btConvexHullComputer.cpp b/extern/bullet2/src/LinearMath/btConvexHullComputer.cpp
index d58ac95..3fd77df 100644
--- a/extern/bullet2/src/LinearMath/btConvexHullComputer.cpp
+++ b/extern/bullet2/src/LinearMath/btConvexHullComputer.cpp
@@ -2665,6 +2665,7 @@ btScalar btConvexHullComputer::compute(const void* coords, bool doubleCoords, in
 	}
 
 	vertices.resize(0);
+	original_vertex_index.resize(0);
 	edges.resize(0);
 	faces.resize(0);
 
@@ -2675,6 +2676,7 @@ 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/extern/bullet2/src/LinearMath/btConvexHullComputer.h b/extern/bullet2/src/LinearMath/btConvexHullComputer.h
index 7240ac4..6871ce8 100644
--- a/extern/bullet2/src/LinearMath/btConvexHullComputer.h
+++ b/extern/bullet2/src/LinearMath/btConvexHullComputer.h
@@ -67,6 +67,7 @@ class btConvexHullComputer
 
 		// Vertices of the output hull
 		btAlignedObjectArray<btVector3> vertices;
+		btAlignedObjectArray<int> original_vertex_index;
 
 		// Edges of the output hull
 		btAlignedObjectArray<Edge> edges;