parallel solver: small tweaks and fixes

src/LinearMath/TaskScheduler/btTaskScheduler.cpp

@@ -17,42 +17,12 @@ typedef void* ( *btThreadLocalStorageFunc )();
 
 
 
-///
-/// getNumHardwareThreads()
-///
-///
-/// https://stackoverflow.com/questions/150355/programmatically-find-the-number-of-cores-on-a-machine
-///
-#if __cplusplus >= 201103L
-
-#include <thread>
-
-int getNumHardwareThreads()
-{
-    return std::thread::hardware_concurrency();
-}
-
-#elif defined( _WIN32 )
+#if defined( _WIN32 )
 
 #define WIN32_LEAN_AND_MEAN
 
 #include <windows.h>
 
-int getNumHardwareThreads()
-{
-    // caps out at 32
-    SYSTEM_INFO info;
-    GetSystemInfo( &info );
-    return info.dwNumberOfProcessors;
-}
-
-#else
-
-int getNumHardwareThreads()
-{
-    return 0;  // don't know
-}
-
 #endif
 
 
@@ -581,7 +551,6 @@ public:
 
             // put the main thread to work on emptying the job queue and then wait for all workers to finish
             waitJobs();
-            m_antiNestingLock.unlock();
 
             // add up all the thread sums
             btScalar sum = btScalar(0);
@@ -589,6 +558,7 @@ public:
             {
                 sum += threadLocalSum[ iThread ].mSum;
             }
+            m_antiNestingLock.unlock();
             return sum;
         }
         else

src/LinearMath/TaskScheduler/btThreadSupportWin32.cpp

@@ -267,8 +267,8 @@ DWORD WINAPI win32threadStartFunc( LPVOID lpParam )
 void btThreadSupportWin32::runTask( int threadIndex, void* userData )
 {
     btThreadStatus& threadStatus = m_activeThreadStatus[ threadIndex ];
-    btAssert( taskId >= 0 );
-    btAssert( int( taskId ) < m_activeThreadStatus.size() );
+    btAssert( threadIndex >= 0 );
+    btAssert( int( threadIndex ) < m_activeThreadStatus.size() );
 
     threadStatus.m_commandId = 1;
     threadStatus.m_status = 1;