diff --git a/Demos/EPAPenDepthDemo/PenetrationTestBullet.cpp b/Demos/EPAPenDepthDemo/PenetrationTestBullet.cpp
index 9c4302ee8..e83d53cbb 100644
--- a/Demos/EPAPenDepthDemo/PenetrationTestBullet.cpp
+++ b/Demos/EPAPenDepthDemo/PenetrationTestBullet.cpp
@@ -385,9 +385,9 @@ static bool TestSepAxis(const btVector3& sep_axis, const MyConvex& hull0, const
 		return false;
 
 	float d0 = Max0 - Min1;
-	assert(d0>=0.0f);
+	btAssert(d0>=0.0f);
 	float d1 = Max1 - Min0;
-	assert(d1>=0.0f);
+	btAssert(d1>=0.0f);
 	depth = d0<d1 ? d0:d1;
 	return true;
 }
diff --git a/src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.cpp b/src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.cpp
index f37359976..97bc346c4 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.cpp
+++ b/src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.cpp
@@ -88,9 +88,9 @@ static bool TestSepAxis(const btConvexPolyhedron& hullA, const btConvexPolyhedro
 		return false;
 
 	btScalar d0 = Max0 - Min1;
-	assert(d0>=0.0f);
+	btAssert(d0>=0.0f);
 	btScalar d1 = Max1 - Min0;
-	assert(d1>=0.0f);
+	btAssert(d1>=0.0f);
 	depth = d0<d1 ? d0:d1;
 	return true;
 }
diff --git a/src/BulletMultiThreaded/btGpu3DGridBroadphase.cpp b/src/BulletMultiThreaded/btGpu3DGridBroadphase.cpp
index 84a5e59f0..1de694075 100644
--- a/src/BulletMultiThreaded/btGpu3DGridBroadphase.cpp
+++ b/src/BulletMultiThreaded/btGpu3DGridBroadphase.cpp
@@ -81,7 +81,7 @@ btGpu3DGridBroadphase::btGpu3DGridBroadphase(	btOverlappingPairCache* overlappin
 btGpu3DGridBroadphase::~btGpu3DGridBroadphase()
 {
 	//btSimpleBroadphase will free memory of btSortedOverlappingPairCache, because m_ownsPairCache
-	assert(m_bInitialized);
+	btAssert(m_bInitialized);
 	_finalize();
 }
 
@@ -121,7 +121,7 @@ void btGpu3DGridBroadphase::_initialize(	const btVector3& worldAabbMin,const btV
 
 	m_LastLargeHandleIndex = -1;
 
-    assert(!m_bInitialized);
+    btAssert(!m_bInitialized);
     // allocate host storage
     m_hBodiesHash = new unsigned int[m_maxHandles * 2];
     memset(m_hBodiesHash, 0x00, m_maxHandles*2*sizeof(unsigned int));
@@ -175,7 +175,7 @@ void btGpu3DGridBroadphase::_initialize(	const btVector3& worldAabbMin,const btV
 
 void btGpu3DGridBroadphase::_finalize()
 {
-    assert(m_bInitialized);
+    btAssert(m_bInitialized);
     delete [] m_hBodiesHash;
     delete [] m_hCellStart;
     delete [] m_hPairBuffStartCurr;
diff --git a/src/LinearMath/btQuaternion.h b/src/LinearMath/btQuaternion.h
index ed67f2900..a1db819de 100644
--- a/src/LinearMath/btQuaternion.h
+++ b/src/LinearMath/btQuaternion.h
@@ -807,7 +807,7 @@ length(const btQuaternion& q)
 
 /**@brief Return the angle between two quaternions*/
 SIMD_FORCE_INLINE btScalar
-angle(const btQuaternion& q1, const btQuaternion& q2) 
+btAngle(const btQuaternion& q1, const btQuaternion& q2) 
 { 
 	return q1.angle(q2); 
 }
@@ -875,4 +875,3 @@ shortestArcQuatNormalize2(btVector3& v0,btVector3& v1)
 
 
 
-
diff --git a/src/LinearMath/btScalar.h b/src/LinearMath/btScalar.h
index f1b9be68e..b5027fabf 100644
--- a/src/LinearMath/btScalar.h
+++ b/src/LinearMath/btScalar.h
@@ -85,9 +85,14 @@ inline int	btGetVersion()
 
 		#endif //__MINGW32__
 
-		#include <assert.h>
 #ifdef BT_DEBUG
+	#ifdef _MSC_VER
+		#include <stdio.h>
+		#define btAssert(x) { if(!(x)){printf("Assert "__FILE__ ":%u ("#x")\n", __LINE__);__debugbreak();	}}
+	#else//_MSC_VER
+		#include <assert.h>
 		#define btAssert assert
+	#endif//_MSC_VER
 #else
 		#define btAssert(x)
 #endif
@@ -190,10 +195,23 @@ inline int	btGetVersion()
 	#endif
 
 	#if defined(DEBUG) || defined (_DEBUG)
+	 #if defined (__i386__) || defined (__x86_64__)
+	#include <stdio.h>
+	 #define btAssert(x)\
+	{\
+	if(!(x))\
+	{\
+		printf("Assert %s in line %d, file %s\n",#x, __LINE__, __FILE__);\
+		asm volatile ("int3");\
+	}\
+	}
+	#else//defined (__i386__) || defined (__x86_64__)
 		#define btAssert assert
-	#else
-		#define btAssert(x)
+	#end//defined (__i386__) || defined (__x86_64__)
 	#endif
+	#else//defined(DEBUG) || defined (_DEBUG)
+		#define btAssert(x)
+	#endif//defined(DEBUG) || defined (_DEBUG)
 
 	//btFullAssert is optional, slows down a lot
 	#define btFullAssert(x)
diff --git a/src/LinearMath/btSerializer.h b/src/LinearMath/btSerializer.h
index 7d90ad20a..b3dbd28f2 100644
--- a/src/LinearMath/btSerializer.h
+++ b/src/LinearMath/btSerializer.h
@@ -256,7 +256,7 @@ protected:
 			*/
 
 			intPtr = (int*)cp;
-			assert(strncmp(cp, "TYPE", 4)==0); intPtr++;
+			btAssert(strncmp(cp, "TYPE", 4)==0); intPtr++;
 
 			if (!littleEndian)
 				*intPtr =  btSwapEndian(*intPtr);
@@ -284,7 +284,7 @@ protected:
 
 			// Parse type lens
 			intPtr = (int*)cp;
-			assert(strncmp(cp, "TLEN", 4)==0); intPtr++;
+			btAssert(strncmp(cp, "TLEN", 4)==0); intPtr++;
 
 			dataLen = (int)mTypes.size();
 
@@ -311,7 +311,7 @@ protected:
 
 			intPtr = (int*)shtPtr;
 			cp = (char*)intPtr;
-			assert(strncmp(cp, "STRC", 4)==0); intPtr++;
+			btAssert(strncmp(cp, "STRC", 4)==0); intPtr++;
 
 			if (!littleEndian)
 				*intPtr = btSwapEndian(*intPtr);