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diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.h b/thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.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_SIMULATION_ISLAND_MANAGER_MT_H
+#define BT_SIMULATION_ISLAND_MANAGER_MT_H
+
+#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h"
+
+class btTypedConstraint;
+
+
+///
+/// SimulationIslandManagerMt -- Multithread capable version of SimulationIslandManager
+///                       Splits the world up into islands which can be solved in parallel.
+///                       In order to solve islands in parallel, an IslandDispatch function
+///                       must be provided which will dispatch calls to multiple threads.
+///                       The amount of parallelism that can be achieved depends on the number
+///                       of islands. If only a single island exists, then no parallelism is
+///                       possible.
+///
+class btSimulationIslandManagerMt : public btSimulationIslandManager
+{
+public:
+    struct Island
+    {
+        // a simulation island consisting of bodies, manifolds and constraints,
+        // to be passed into a constraint solver.
+        btAlignedObjectArray<btCollisionObject*> bodyArray;
+        btAlignedObjectArray<btPersistentManifold*> manifoldArray;
+        btAlignedObjectArray<btTypedConstraint*> constraintArray;
+        int id;  // island id
+        bool isSleeping;
+
+        void append( const Island& other );  // add bodies, manifolds, constraints to my own
+    };
+    struct	IslandCallback
+    {
+        virtual ~IslandCallback() {};
+
+        virtual	void processIsland( btCollisionObject** bodies,
+                                    int numBodies,
+                                    btPersistentManifold** manifolds,
+                                    int numManifolds,
+                                    btTypedConstraint** constraints,
+                                    int numConstraints,
+                                    int islandId
+                                    ) = 0;
+    };
+    typedef void( *IslandDispatchFunc ) ( btAlignedObjectArray<Island*>* islands, IslandCallback* callback );
+    static void serialIslandDispatch( btAlignedObjectArray<Island*>* islandsPtr, IslandCallback* callback );
+    static void parallelIslandDispatch( btAlignedObjectArray<Island*>* islandsPtr, IslandCallback* callback );
+protected:
+    btAlignedObjectArray<Island*> m_allocatedIslands;  // owner of all Islands
+    btAlignedObjectArray<Island*> m_activeIslands;  // islands actively in use
+    btAlignedObjectArray<Island*> m_freeIslands;  // islands ready to be reused
+    btAlignedObjectArray<Island*> m_lookupIslandFromId;  // big lookup table to map islandId to Island pointer
+    Island* m_batchIsland;
+    int m_minimumSolverBatchSize;
+    int m_batchIslandMinBodyCount;
+    IslandDispatchFunc m_islandDispatch;
+
+    Island* getIsland( int id );
+    virtual Island* allocateIsland( int id, int numBodies );
+    virtual void initIslandPools();
+    virtual void addBodiesToIslands( btCollisionWorld* collisionWorld );
+    virtual void addManifoldsToIslands( btDispatcher* dispatcher );
+    virtual void addConstraintsToIslands( btAlignedObjectArray<btTypedConstraint*>& constraints );
+    virtual void mergeIslands();
+	
+public:
+	btSimulationIslandManagerMt();
+	virtual ~btSimulationIslandManagerMt();
+
+    virtual void buildAndProcessIslands( btDispatcher* dispatcher, btCollisionWorld* collisionWorld, btAlignedObjectArray<btTypedConstraint*>& constraints, IslandCallback* callback );
+
+	virtual void buildIslands(btDispatcher* dispatcher,btCollisionWorld* colWorld);
+
+    int getMinimumSolverBatchSize() const
+    {
+        return m_minimumSolverBatchSize;
+    }
+    void setMinimumSolverBatchSize( int sz )
+    {
+        m_minimumSolverBatchSize = sz;
+    }
+    IslandDispatchFunc getIslandDispatchFunction() const
+    {
+        return m_islandDispatch;
+    }
+    // allow users to set their own dispatch function for multithreaded dispatch
+    void setIslandDispatchFunction( IslandDispatchFunc func )
+    {
+        m_islandDispatch = func;
+    }
+};
+
+#endif //BT_SIMULATION_ISLAND_MANAGER_H
+