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diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
deleted file mode 100644
index 0e26da0ebe..0000000000
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
+++ /dev/null
@@ -1,374 +0,0 @@
-/*
-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_PERSISTENT_MANIFOLD_H
-#define BT_PERSISTENT_MANIFOLD_H
-
-#include "LinearMath/btVector3.h"
-#include "LinearMath/btTransform.h"
-#include "btManifoldPoint.h"
-class btCollisionObject;
-#include "LinearMath/btAlignedAllocator.h"
-
-struct btCollisionResult;
-struct btCollisionObjectDoubleData;
-struct btCollisionObjectFloatData;
-
-///maximum contact breaking and merging threshold
-extern btScalar gContactBreakingThreshold;
-
-#ifndef SWIG
-class btPersistentManifold;
-
-typedef bool (*ContactDestroyedCallback)(void* userPersistentData);
-typedef bool (*ContactProcessedCallback)(btManifoldPoint& cp, void* body0, void* body1);
-typedef void (*ContactStartedCallback)(btPersistentManifold* const& manifold);
-typedef void (*ContactEndedCallback)(btPersistentManifold* const& manifold);
-extern ContactDestroyedCallback gContactDestroyedCallback;
-extern ContactProcessedCallback gContactProcessedCallback;
-extern ContactStartedCallback gContactStartedCallback;
-extern ContactEndedCallback gContactEndedCallback;
-#endif  //SWIG
-
-//the enum starts at 1024 to avoid type conflicts with btTypedConstraint
-enum btContactManifoldTypes
-{
-	MIN_CONTACT_MANIFOLD_TYPE = 1024,
-	BT_PERSISTENT_MANIFOLD_TYPE
-};
-
-#define MANIFOLD_CACHE_SIZE 4
-
-///btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping in the broadphase.
-///Those contact points are created by the collision narrow phase.
-///The cache can be empty, or hold 1,2,3 or 4 points. Some collision algorithms (GJK) might only add one point at a time.
-///updates/refreshes old contact points, and throw them away if necessary (distance becomes too large)
-///reduces the cache to 4 points, when more then 4 points are added, using following rules:
-///the contact point with deepest penetration is always kept, and it tries to maximuze the area covered by the points
-///note that some pairs of objects might have more then one contact manifold.
-
-//ATTRIBUTE_ALIGNED128( class) btPersistentManifold : public btTypedObject
-ATTRIBUTE_ALIGNED16(class)
-btPersistentManifold : public btTypedObject
-{
-	btManifoldPoint m_pointCache[MANIFOLD_CACHE_SIZE];
-
-	/// this two body pointers can point to the physics rigidbody class.
-	const btCollisionObject* m_body0;
-	const btCollisionObject* m_body1;
-
-	int m_cachedPoints;
-
-	btScalar m_contactBreakingThreshold;
-	btScalar m_contactProcessingThreshold;
-
-	/// sort cached points so most isolated points come first
-	int sortCachedPoints(const btManifoldPoint& pt);
-
-	int findContactPoint(const btManifoldPoint* unUsed, int numUnused, const btManifoldPoint& pt);
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	int m_companionIdA;
-	int m_companionIdB;
-
-	int m_index1a;
-
-	btPersistentManifold();
-
-	btPersistentManifold(const btCollisionObject* body0, const btCollisionObject* body1, int, btScalar contactBreakingThreshold, btScalar contactProcessingThreshold)
-		: btTypedObject(BT_PERSISTENT_MANIFOLD_TYPE),
-		  m_body0(body0),
-		  m_body1(body1),
-		  m_cachedPoints(0),
-		  m_contactBreakingThreshold(contactBreakingThreshold),
-		  m_contactProcessingThreshold(contactProcessingThreshold),
-		  m_companionIdA(0),
-		  m_companionIdB(0),
-		  m_index1a(0)
-	{
-	}
-
-	SIMD_FORCE_INLINE const btCollisionObject* getBody0() const { return m_body0; }
-	SIMD_FORCE_INLINE const btCollisionObject* getBody1() const { return m_body1; }
-
-	void setBodies(const btCollisionObject* body0, const btCollisionObject* body1)
-	{
-		m_body0 = body0;
-		m_body1 = body1;
-	}
-
-	void clearUserCache(btManifoldPoint & pt);
-
-#ifdef DEBUG_PERSISTENCY
-	void DebugPersistency();
-#endif  //
-
-	SIMD_FORCE_INLINE int getNumContacts() const
-	{
-		return m_cachedPoints;
-	}
-	/// the setNumContacts API is usually not used, except when you gather/fill all contacts manually
-	void setNumContacts(int cachedPoints)
-	{
-		m_cachedPoints = cachedPoints;
-	}
-
-	SIMD_FORCE_INLINE const btManifoldPoint& getContactPoint(int index) const
-	{
-		btAssert(index < m_cachedPoints);
-		return m_pointCache[index];
-	}
-
-	SIMD_FORCE_INLINE btManifoldPoint& getContactPoint(int index)
-	{
-		btAssert(index < m_cachedPoints);
-		return m_pointCache[index];
-	}
-
-	///@todo: get this margin from the current physics / collision environment
-	btScalar getContactBreakingThreshold() const;
-
-	btScalar getContactProcessingThreshold() const
-	{
-		return m_contactProcessingThreshold;
-	}
-
-	void setContactBreakingThreshold(btScalar contactBreakingThreshold)
-	{
-		m_contactBreakingThreshold = contactBreakingThreshold;
-	}
-
-	void setContactProcessingThreshold(btScalar contactProcessingThreshold)
-	{
-		m_contactProcessingThreshold = contactProcessingThreshold;
-	}
-
-	int getCacheEntry(const btManifoldPoint& newPoint) const;
-
-	int addManifoldPoint(const btManifoldPoint& newPoint, bool isPredictive = false);
-
-	void removeContactPoint(int index)
-	{
-		clearUserCache(m_pointCache[index]);
-
-		int lastUsedIndex = getNumContacts() - 1;
-		//		m_pointCache[index] = m_pointCache[lastUsedIndex];
-		if (index != lastUsedIndex)
-		{
-			m_pointCache[index] = m_pointCache[lastUsedIndex];
-			//get rid of duplicated userPersistentData pointer
-			m_pointCache[lastUsedIndex].m_userPersistentData = 0;
-			m_pointCache[lastUsedIndex].m_appliedImpulse = 0.f;
-			m_pointCache[lastUsedIndex].m_prevRHS = 0.f;
-			m_pointCache[lastUsedIndex].m_contactPointFlags = 0;
-			m_pointCache[lastUsedIndex].m_appliedImpulseLateral1 = 0.f;
-			m_pointCache[lastUsedIndex].m_appliedImpulseLateral2 = 0.f;
-			m_pointCache[lastUsedIndex].m_lifeTime = 0;
-		}
-
-		btAssert(m_pointCache[lastUsedIndex].m_userPersistentData == 0);
-		m_cachedPoints--;
-
-		if (gContactEndedCallback && m_cachedPoints == 0)
-		{
-			gContactEndedCallback(this);
-		}
-	}
-	void replaceContactPoint(const btManifoldPoint& newPoint, int insertIndex)
-	{
-		btAssert(validContactDistance(newPoint));
-
-#define MAINTAIN_PERSISTENCY 1
-#ifdef MAINTAIN_PERSISTENCY
-		int lifeTime = m_pointCache[insertIndex].getLifeTime();
-		btScalar appliedImpulse = m_pointCache[insertIndex].m_appliedImpulse;
-		btScalar prevRHS = m_pointCache[insertIndex].m_prevRHS;
-		btScalar appliedLateralImpulse1 = m_pointCache[insertIndex].m_appliedImpulseLateral1;
-		btScalar appliedLateralImpulse2 = m_pointCache[insertIndex].m_appliedImpulseLateral2;
-
-		bool replacePoint = true;
-		///we keep existing contact points for friction anchors
-		///if the friction force is within the Coulomb friction cone
-		if (newPoint.m_contactPointFlags & BT_CONTACT_FLAG_FRICTION_ANCHOR)
-		{
-			//   printf("appliedImpulse=%f\n", appliedImpulse);
-			//   printf("appliedLateralImpulse1=%f\n", appliedLateralImpulse1);
-			//   printf("appliedLateralImpulse2=%f\n", appliedLateralImpulse2);
-			//   printf("mu = %f\n", m_pointCache[insertIndex].m_combinedFriction);
-			btScalar mu = m_pointCache[insertIndex].m_combinedFriction;
-			btScalar eps = 0;  //we could allow to enlarge or shrink the tolerance to check against the friction cone a bit, say 1e-7
-			btScalar a = appliedLateralImpulse1 * appliedLateralImpulse1 + appliedLateralImpulse2 * appliedLateralImpulse2;
-			btScalar b = eps + mu * appliedImpulse;
-			b = b * b;
-			replacePoint = (a) > (b);
-		}
-
-		if (replacePoint)
-		{
-			btAssert(lifeTime >= 0);
-			void* cache = m_pointCache[insertIndex].m_userPersistentData;
-
-			m_pointCache[insertIndex] = newPoint;
-			m_pointCache[insertIndex].m_userPersistentData = cache;
-			m_pointCache[insertIndex].m_appliedImpulse = appliedImpulse;
-			m_pointCache[insertIndex].m_prevRHS = prevRHS;
-			m_pointCache[insertIndex].m_appliedImpulseLateral1 = appliedLateralImpulse1;
-			m_pointCache[insertIndex].m_appliedImpulseLateral2 = appliedLateralImpulse2;
-		}
-
-		m_pointCache[insertIndex].m_lifeTime = lifeTime;
-#else
-		clearUserCache(m_pointCache[insertIndex]);
-		m_pointCache[insertIndex] = newPoint;
-
-#endif
-	}
-
-	bool validContactDistance(const btManifoldPoint& pt) const
-	{
-		return pt.m_distance1 <= getContactBreakingThreshold();
-	}
-	/// calculated new worldspace coordinates and depth, and reject points that exceed the collision margin
-	void refreshContactPoints(const btTransform& trA, const btTransform& trB);
-
-	SIMD_FORCE_INLINE void clearManifold()
-	{
-		int i;
-		for (i = 0; i < m_cachedPoints; i++)
-		{
-			clearUserCache(m_pointCache[i]);
-		}
-
-		if (gContactEndedCallback && m_cachedPoints)
-		{
-			gContactEndedCallback(this);
-		}
-		m_cachedPoints = 0;
-	}
-
-	int calculateSerializeBufferSize() const;
-	const char* serialize(const class btPersistentManifold* manifold, void* dataBuffer, class btSerializer* serializer) const;
-	void deSerialize(const struct btPersistentManifoldDoubleData* manifoldDataPtr);
-	void deSerialize(const struct btPersistentManifoldFloatData* manifoldDataPtr);
-};
-
-// clang-format off
-
-struct btPersistentManifoldDoubleData
-{
-	btVector3DoubleData m_pointCacheLocalPointA[4];
-	btVector3DoubleData m_pointCacheLocalPointB[4];
-	btVector3DoubleData m_pointCachePositionWorldOnA[4];
-	btVector3DoubleData m_pointCachePositionWorldOnB[4];
-	btVector3DoubleData m_pointCacheNormalWorldOnB[4];
-	btVector3DoubleData	m_pointCacheLateralFrictionDir1[4];
-	btVector3DoubleData	m_pointCacheLateralFrictionDir2[4];
-	double m_pointCacheDistance[4];
-	double m_pointCacheAppliedImpulse[4];
-	double m_pointCachePrevRHS[4];
-	 double m_pointCacheCombinedFriction[4];
-	double m_pointCacheCombinedRollingFriction[4];
-	double m_pointCacheCombinedSpinningFriction[4];
-	double m_pointCacheCombinedRestitution[4];
-	int	m_pointCachePartId0[4];
-	int	m_pointCachePartId1[4];
-	int	m_pointCacheIndex0[4];
-	int	m_pointCacheIndex1[4];
-	int m_pointCacheContactPointFlags[4];
-	double m_pointCacheAppliedImpulseLateral1[4];
-	double m_pointCacheAppliedImpulseLateral2[4];
-	double m_pointCacheContactMotion1[4];
-	double m_pointCacheContactMotion2[4];
-	double m_pointCacheContactCFM[4];
-	double m_pointCacheCombinedContactStiffness1[4];
-	double m_pointCacheContactERP[4];
-	double m_pointCacheCombinedContactDamping1[4];
-	double m_pointCacheFrictionCFM[4];
-	int m_pointCacheLifeTime[4];
-
-	int m_numCachedPoints;
-	int m_companionIdA;
-	int m_companionIdB;
-	int m_index1a;
-
-	int m_objectType;
-	double	m_contactBreakingThreshold;
-	double	m_contactProcessingThreshold;
-	int m_padding;
-
-	btCollisionObjectDoubleData *m_body0;
-	btCollisionObjectDoubleData *m_body1;
-};
-
-
-struct btPersistentManifoldFloatData
-{
-	btVector3FloatData m_pointCacheLocalPointA[4];
-	btVector3FloatData m_pointCacheLocalPointB[4];
-	btVector3FloatData m_pointCachePositionWorldOnA[4];
-	btVector3FloatData m_pointCachePositionWorldOnB[4];
-	btVector3FloatData m_pointCacheNormalWorldOnB[4];
-	btVector3FloatData	m_pointCacheLateralFrictionDir1[4];
-	btVector3FloatData	m_pointCacheLateralFrictionDir2[4];
-	float m_pointCacheDistance[4];
-	float m_pointCacheAppliedImpulse[4];
-	float m_pointCachePrevRHS[4];
-	float m_pointCacheCombinedFriction[4];
-	float m_pointCacheCombinedRollingFriction[4];
-	float m_pointCacheCombinedSpinningFriction[4];
-	float m_pointCacheCombinedRestitution[4];
-	int	m_pointCachePartId0[4];
-	int	m_pointCachePartId1[4];
-	int	m_pointCacheIndex0[4];
-	int	m_pointCacheIndex1[4];
-	int m_pointCacheContactPointFlags[4];
-	float m_pointCacheAppliedImpulseLateral1[4];
-	float m_pointCacheAppliedImpulseLateral2[4];
-	float m_pointCacheContactMotion1[4];
-	float m_pointCacheContactMotion2[4];
-	float m_pointCacheContactCFM[4];
-	float m_pointCacheCombinedContactStiffness1[4];
-	float m_pointCacheContactERP[4];
-	float m_pointCacheCombinedContactDamping1[4];
-	float m_pointCacheFrictionCFM[4];
-	int m_pointCacheLifeTime[4];
-
-	int m_numCachedPoints;
-	int m_companionIdA;
-	int m_companionIdB;
-	int m_index1a;
-
-	int m_objectType;
-	float	m_contactBreakingThreshold;
-	float	m_contactProcessingThreshold;
-	int m_padding;
-
-	btCollisionObjectFloatData *m_body0;
-	btCollisionObjectFloatData *m_body1;
-};
-
-// clang-format on
-
-#ifdef BT_USE_DOUBLE_PRECISION
-#define btPersistentManifoldData btPersistentManifoldDoubleData
-#define btPersistentManifoldDataName "btPersistentManifoldDoubleData"
-#else
-#define btPersistentManifoldData btPersistentManifoldFloatData
-#define btPersistentManifoldDataName "btPersistentManifoldFloatData"
-#endif  //BT_USE_DOUBLE_PRECISION
-
-#endif  //BT_PERSISTENT_MANIFOLD_H