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diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3GjkEpa.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3GjkEpa.h
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+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2008 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+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,
+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.
+2. Altered source versions must be plainly marked as such, and must not be
+misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+/*
+GJK-EPA collision solver by Nathanael Presson, 2008
+*/
+#ifndef B3_GJK_EPA2_H
+#define B3_GJK_EPA2_H
+
+#include "Bullet3Common/b3AlignedObjectArray.h"
+#include "Bullet3Common/b3Transform.h"
+#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h"
+
+
+///btGjkEpaSolver contributed under zlib by Nathanael Presson
+struct	b3GjkEpaSolver2
+{
+struct	sResults
+	{
+	enum eStatus
+		{
+		Separated,		/* Shapes doesnt penetrate												*/ 
+		Penetrating,	/* Shapes are penetrating												*/ 
+		GJK_Failed,		/* GJK phase fail, no big issue, shapes are probably just 'touching'	*/ 
+		EPA_Failed		/* EPA phase fail, bigger problem, need to save parameters, and debug	*/ 
+		}		status;
+	b3Vector3	witnesses[2];
+	b3Vector3	normal;
+	b3Scalar	distance;
+	};
+
+static int		StackSizeRequirement();
+
+static bool		Distance(	 const b3Transform&	transA, const b3Transform&	transB,
+							const b3ConvexPolyhedronData* hullA, const b3ConvexPolyhedronData* hullB, 
+							const b3AlignedObjectArray<b3Vector3>& verticesA,
+							const b3AlignedObjectArray<b3Vector3>& verticesB,
+							const b3Vector3& guess,
+							sResults& results);
+
+static bool		Penetration( const b3Transform&	transA, const b3Transform&	transB,
+							const b3ConvexPolyhedronData* hullA, const b3ConvexPolyhedronData* hullB, 
+							const b3AlignedObjectArray<b3Vector3>& verticesA,
+							const b3AlignedObjectArray<b3Vector3>& verticesB,
+							const b3Vector3& guess,
+							sResults& results,
+							bool usemargins=true);
+#if 0
+static b3Scalar	SignedDistance(	const b3Vector3& position,
+								b3Scalar margin,
+								const btConvexShape* shape,
+								const btTransform& wtrs,
+								sResults& results);
+							
+static bool		SignedDistance(	const btConvexShape* shape0,const btTransform& wtrs0,
+								const btConvexShape* shape1,const btTransform& wtrs1,
+								const b3Vector3& guess,
+								sResults& results);
+#endif 
+
+};
+
+#endif //B3_GJK_EPA2_H
+