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diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h
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+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h
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+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 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.
+
+*/
+
+#ifndef BT_COMPOUND_COLLISION_ALGORITHM_H
+#define BT_COMPOUND_COLLISION_ALGORITHM_H
+
+#include "btActivatingCollisionAlgorithm.h"
+#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
+#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
+
+#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
+class btDispatcher;
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
+#include "btCollisionCreateFunc.h"
+#include "LinearMath/btAlignedObjectArray.h"
+#include "BulletCollision/BroadphaseCollision/btDbvt.h"
+class btDispatcher;
+class btCollisionObject;
+
+class btCollisionShape;
+typedef bool (*btShapePairCallback)(const btCollisionShape* pShape0, const btCollisionShape* pShape1);
+extern btShapePairCallback gCompoundChildShapePairCallback;
+
+/// btCompoundCollisionAlgorithm  supports collision between CompoundCollisionShapes and other collision shapes
+class btCompoundCollisionAlgorithm  : public btActivatingCollisionAlgorithm
+{
+	btNodeStack stack2;
+	btManifoldArray manifoldArray;
+
+protected:
+	btAlignedObjectArray<btCollisionAlgorithm*> m_childCollisionAlgorithms;
+	bool m_isSwapped;
+
+	class btPersistentManifold*	m_sharedManifold;
+	bool					m_ownsManifold;
+
+
+	int	m_compoundShapeRevision;//to keep track of changes, so that childAlgorithm array can be updated
+	
+	void	removeChildAlgorithms();
+	
+	void	preallocateChildAlgorithms(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
+
+public:
+
+	btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped);
+
+	virtual ~btCompoundCollisionAlgorithm();
+
+	btCollisionAlgorithm* getChildAlgorithm (int n) const
+	{
+		return m_childCollisionAlgorithms[n];
+	}
+
+
+	virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+
+	btScalar	calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+
+	virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray)
+	{
+		int i;
+		for (i=0;i<m_childCollisionAlgorithms.size();i++)
+		{
+			if (m_childCollisionAlgorithms[i])
+				m_childCollisionAlgorithms[i]->getAllContactManifolds(manifoldArray);
+		}
+	}
+
+	
+	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
+	{
+		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
+		{
+			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btCompoundCollisionAlgorithm));
+			return new(mem) btCompoundCollisionAlgorithm(ci,body0Wrap,body1Wrap,false);
+		}
+	};
+
+	struct SwappedCreateFunc :public 	btCollisionAlgorithmCreateFunc
+	{
+		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
+		{
+			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btCompoundCollisionAlgorithm));
+			return new(mem) btCompoundCollisionAlgorithm(ci,body0Wrap,body1Wrap,true);
+		}
+	};
+
+};
+
+#endif //BT_COMPOUND_COLLISION_ALGORITHM_H