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diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
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+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
@@ -0,0 +1,167 @@
+/*
+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_CONTACT_SOLVER_INFO
+#define BT_CONTACT_SOLVER_INFO
+
+#include "LinearMath/btScalar.h"
+
+enum	btSolverMode
+{
+	SOLVER_RANDMIZE_ORDER = 1,
+	SOLVER_FRICTION_SEPARATE = 2,
+	SOLVER_USE_WARMSTARTING = 4,
+	SOLVER_USE_2_FRICTION_DIRECTIONS = 16,
+	SOLVER_ENABLE_FRICTION_DIRECTION_CACHING = 32,
+	SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION = 64,
+	SOLVER_CACHE_FRIENDLY = 128,
+	SOLVER_SIMD = 256,
+	SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS = 512,
+	SOLVER_ALLOW_ZERO_LENGTH_FRICTION_DIRECTIONS = 1024
+};
+
+struct btContactSolverInfoData
+{
+	
+
+	btScalar	m_tau;
+	btScalar	m_damping;//global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
+	btScalar	m_friction;
+	btScalar	m_timeStep;
+	btScalar	m_restitution;
+	int		m_numIterations;
+	btScalar	m_maxErrorReduction;
+	btScalar	m_sor;//successive over-relaxation term
+	btScalar	m_erp;//error reduction for non-contact constraints
+	btScalar	m_erp2;//error reduction for contact constraints
+	btScalar	m_globalCfm;//constraint force mixing for contacts and non-contacts
+	btScalar	m_frictionERP;//error reduction for friction constraints
+	btScalar	m_frictionCFM;//constraint force mixing for friction constraints
+
+	int			m_splitImpulse;
+	btScalar	m_splitImpulsePenetrationThreshold;
+	btScalar	m_splitImpulseTurnErp;
+	btScalar	m_linearSlop;
+	btScalar	m_warmstartingFactor;
+
+	int			m_solverMode;
+	int	m_restingContactRestitutionThreshold;
+	int			m_minimumSolverBatchSize;
+	btScalar	m_maxGyroscopicForce;
+	btScalar	m_singleAxisRollingFrictionThreshold;
+	btScalar	m_leastSquaresResidualThreshold;
+	btScalar	m_restitutionVelocityThreshold;
+
+};
+
+struct btContactSolverInfo : public btContactSolverInfoData
+{
+
+	
+
+	inline btContactSolverInfo()
+	{
+		m_tau = btScalar(0.6);
+		m_damping = btScalar(1.0);
+		m_friction = btScalar(0.3);
+		m_timeStep = btScalar(1.f/60.f);
+		m_restitution = btScalar(0.);
+		m_maxErrorReduction = btScalar(20.);
+		m_numIterations = 10;
+		m_erp = btScalar(0.2);
+		m_erp2 = btScalar(0.2);
+		m_globalCfm = btScalar(0.);
+		m_frictionERP = btScalar(0.2);//positional friction 'anchors' are disabled by default
+		m_frictionCFM = btScalar(0.);
+		m_sor = btScalar(1.);
+		m_splitImpulse = true;
+		m_splitImpulsePenetrationThreshold = -.04f;
+		m_splitImpulseTurnErp = 0.1f;
+		m_linearSlop = btScalar(0.0);
+		m_warmstartingFactor=btScalar(0.85);
+		//m_solverMode =  SOLVER_USE_WARMSTARTING |  SOLVER_SIMD | SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION|SOLVER_USE_2_FRICTION_DIRECTIONS|SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;// | SOLVER_RANDMIZE_ORDER;
+		m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD;// | SOLVER_RANDMIZE_ORDER;
+		m_restingContactRestitutionThreshold = 2;//unused as of 2.81
+		m_minimumSolverBatchSize = 128; //try to combine islands until the amount of constraints reaches this limit
+		m_maxGyroscopicForce = 100.f; ///it is only used for 'explicit' version of gyroscopic force
+		m_singleAxisRollingFrictionThreshold = 1e30f;///if the velocity is above this threshold, it will use a single constraint row (axis), otherwise 3 rows.
+		m_leastSquaresResidualThreshold = 0.f;
+		m_restitutionVelocityThreshold = 0.2f;//if the relative velocity is below this threshold, there is zero restitution
+	}
+};
+
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct btContactSolverInfoDoubleData
+{
+	double		m_tau;
+	double		m_damping;//global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
+	double		m_friction;
+	double		m_timeStep;
+	double		m_restitution;
+	double		m_maxErrorReduction;
+	double		m_sor;
+	double		m_erp;//used as Baumgarte factor
+	double		m_erp2;//used in Split Impulse
+	double		m_globalCfm;//constraint force mixing
+	double		m_splitImpulsePenetrationThreshold;
+	double		m_splitImpulseTurnErp;
+	double		m_linearSlop;
+	double		m_warmstartingFactor;
+	double		m_maxGyroscopicForce;///it is only used for 'explicit' version of gyroscopic force
+	double		m_singleAxisRollingFrictionThreshold;
+
+	int			m_numIterations;
+	int			m_solverMode;
+	int			m_restingContactRestitutionThreshold;
+	int			m_minimumSolverBatchSize;
+	int			m_splitImpulse;
+	char		m_padding[4];
+
+};
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct btContactSolverInfoFloatData
+{
+	float		m_tau;
+	float		m_damping;//global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
+	float		m_friction;
+	float		m_timeStep;
+
+	float		m_restitution;
+	float		m_maxErrorReduction;
+	float		m_sor;
+	float		m_erp;//used as Baumgarte factor
+
+	float		m_erp2;//used in Split Impulse
+	float		m_globalCfm;//constraint force mixing
+	float		m_splitImpulsePenetrationThreshold;
+	float		m_splitImpulseTurnErp;
+
+	float		m_linearSlop;
+	float		m_warmstartingFactor;
+	float		m_maxGyroscopicForce;
+	float		m_singleAxisRollingFrictionThreshold;
+
+	int			m_numIterations;
+	int			m_solverMode;
+	int			m_restingContactRestitutionThreshold;
+	int			m_minimumSolverBatchSize;
+
+	int			m_splitImpulse;
+	char		m_padding[4];
+};
+
+
+
+#endif //BT_CONTACT_SOLVER_INFO