diff --git a/3rdparty/googletest/googlemock/docs/CookBook.md b/3rdparty/googletest/googlemock/docs/CookBook.md
index c215b55121e..c52f1009d1d 100644
--- a/3rdparty/googletest/googlemock/docs/CookBook.md
+++ b/3rdparty/googletest/googlemock/docs/CookBook.md
@@ -2103,7 +2103,7 @@ For better readability, Google Mock also gives you:
   * `WithArg<N>(action)` (no `s` after `Arg`) when the inner `action` takes _one_ argument.
 
 As you may have realized, `InvokeWithoutArgs(...)` is just syntactic
-sugar for `WithoutArgs(Inovke(...))`.
+sugar for `WithoutArgs(Invoke(...))`.
 
 Here are more tips:
 
diff --git a/3rdparty/googletest/googletest/docs/AdvancedGuide.md b/3rdparty/googletest/googletest/docs/AdvancedGuide.md
index 7ba8d1219bd..93a65200dad 100644
--- a/3rdparty/googletest/googletest/docs/AdvancedGuide.md
+++ b/3rdparty/googletest/googletest/docs/AdvancedGuide.md
@@ -1571,15 +1571,14 @@ For technical reasons, there are some caveats:
   1. _statement_ in `EXPECT_FATAL_FAILURE()` cannot reference local non-static variables or non-static members of `this` object.
   1. _statement_ in `EXPECT_FATAL_FAILURE()` cannot return a value.
 
-_Note:_ Google Test is designed with threads in mind.  Once the
+_Note:_ Google Test is designed with threads in mind. Once the
 synchronization primitives in `"gtest/internal/gtest-port.h"` have
 been implemented, Google Test will become thread-safe, meaning that
-you can then use assertions in multiple threads concurrently.  Before
-
-that, however, Google Test only supports single-threaded usage.  Once
+you can then use assertions in multiple threads concurrently. Before
+that, however, Google Test only supports single-threaded usage. Once
 thread-safe, `EXPECT_FATAL_FAILURE()` and `EXPECT_NONFATAL_FAILURE()`
 will capture failures in the current thread only. If _statement_
-creates new threads, failures in these threads will be ignored.  If
+creates new threads, failures in these threads will be ignored. If
 you want to capture failures from all threads instead, you should use
 the following macros:
 
diff --git a/3rdparty/googletest/googletest/include/gtest/internal/gtest-port.h b/3rdparty/googletest/googletest/include/gtest/internal/gtest-port.h
index 7d6e4658194..0094ed5077e 100644
--- a/3rdparty/googletest/googletest/include/gtest/internal/gtest-port.h
+++ b/3rdparty/googletest/googletest/include/gtest/internal/gtest-port.h
@@ -2546,10 +2546,9 @@ bool ParseInt32(const Message& src_text, const char* str, Int32* value);
 // corresponding to the given Google Test flag.
 bool BoolFromGTestEnv(const char* flag, bool default_val);
 GTEST_API_ Int32 Int32FromGTestEnv(const char* flag, Int32 default_val);
-const char* StringFromGTestEnv(const char* flag, const char* default_val);
+std::string StringFromGTestEnv(const char* flag, const char* default_val);
 
 }  // namespace internal
 }  // namespace testing
 
 #endif  // GTEST_INCLUDE_GTEST_INTERNAL_GTEST_PORT_H_
-
diff --git a/3rdparty/googletest/googletest/src/gtest-port.cc b/3rdparty/googletest/googletest/src/gtest-port.cc
index 0162fac44be..e5bf3dd2be4 100644
--- a/3rdparty/googletest/googletest/src/gtest-port.cc
+++ b/3rdparty/googletest/googletest/src/gtest-port.cc
@@ -1226,13 +1226,33 @@ Int32 Int32FromGTestEnv(const char* flag, Int32 default_value) {
 
 // Reads and returns the string environment variable corresponding to
 // the given flag; if it's not set, returns default_value.
-const char* StringFromGTestEnv(const char* flag, const char* default_value) {
+std::string StringFromGTestEnv(const char* flag, const char* default_value) {
 #if defined(GTEST_GET_STRING_FROM_ENV_)
   return GTEST_GET_STRING_FROM_ENV_(flag, default_value);
 #endif  // defined(GTEST_GET_STRING_FROM_ENV_)
   const std::string env_var = FlagToEnvVar(flag);
-  const char* const value = posix::GetEnv(env_var.c_str());
-  return value == NULL ? default_value : value;
+  const char* value = posix::GetEnv(env_var.c_str());
+  if (value != NULL) {
+    return value;
+  }
+
+  // As a special case for the 'output' flag, if GTEST_OUTPUT is not
+  // set, we look for XML_OUTPUT_FILE, which is set by the Bazel build
+  // system.  The value of XML_OUTPUT_FILE is a filename without the
+  // "xml:" prefix of GTEST_OUTPUT.
+  //
+  // The net priority order after flag processing is thus:
+  //   --gtest_output command line flag
+  //   GTEST_OUTPUT environment variable
+  //   XML_OUTPUT_FILE environment variable
+  //   'default_value'
+  if (strcmp(flag, "output") == 0) {
+    value = posix::GetEnv("XML_OUTPUT_FILE");
+    if (value != NULL) {
+      return std::string("xml:") + value;
+    }
+  }
+  return default_value;
 }
 
 }  // namespace internal
diff --git a/3rdparty/googletest/googletest/test/gtest_env_var_test.py b/3rdparty/googletest/googletest/test/gtest_env_var_test.py
index 1fc6ebe5f59..424075cfa37 100644
--- a/3rdparty/googletest/googletest/test/gtest_env_var_test.py
+++ b/3rdparty/googletest/googletest/test/gtest_env_var_test.py
@@ -87,6 +87,7 @@ class GTestEnvVarTest(gtest_test_utils.TestCase):
     TestFlag('break_on_failure', '1', '0')
     TestFlag('color', 'yes', 'auto')
     TestFlag('filter', 'FooTest.Bar', '*')
+    SetEnvVar('XML_OUTPUT_FILE', None) # For 'output' test
     TestFlag('output', 'xml:tmp/foo.xml', '')
     TestFlag('print_time', '0', '1')
     TestFlag('repeat', '999', '1')
@@ -98,6 +99,19 @@ class GTestEnvVarTest(gtest_test_utils.TestCase):
       TestFlag('death_test_use_fork', '1', '0')
       TestFlag('stack_trace_depth', '0', '100')
 
+  def testXmlOutputFile(self):
+    """Tests that $XML_OUTPUT_FILE affects the output flag."""
+
+    SetEnvVar('GTEST_OUTPUT', None)
+    SetEnvVar('XML_OUTPUT_FILE', 'tmp/bar.xml')
+    AssertEq('xml:tmp/bar.xml', GetFlag('output'))
+
+  def testXmlOutputFileOverride(self):
+    """Tests that $XML_OUTPUT_FILE is overridden by $GTEST_OUTPUT"""
+
+    SetEnvVar('GTEST_OUTPUT', 'xml:tmp/foo.xml')
+    SetEnvVar('XML_OUTPUT_FILE', 'tmp/bar.xml')
+    AssertEq('xml:tmp/foo.xml', GetFlag('output'))
 
 if __name__ == '__main__':
   gtest_test_utils.Main()