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diff --git a/thirdparty/bullet/BulletSoftBody/btConjugateGradient.h b/thirdparty/bullet/BulletSoftBody/btConjugateGradient.h
deleted file mode 100644
index bcd5e6b519..0000000000
--- a/thirdparty/bullet/BulletSoftBody/btConjugateGradient.h
+++ /dev/null
@@ -1,117 +0,0 @@
-/*
- Written by Xuchen Han <xuchenhan2015@u.northwestern.edu>
- 
- Bullet Continuous Collision Detection and Physics Library
- Copyright (c) 2019 Google Inc. http://bulletphysics.org
- 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_CONJUGATE_GRADIENT_H
-#define BT_CONJUGATE_GRADIENT_H
-#include "btKrylovSolver.h"
-template <class MatrixX>
-class btConjugateGradient : public btKrylovSolver<MatrixX>
-{
-	typedef btAlignedObjectArray<btVector3> TVStack;
-	typedef btKrylovSolver<MatrixX> Base;
-	TVStack r, p, z, temp;
-
-public:
-	btConjugateGradient(const int max_it_in)
-		: btKrylovSolver<MatrixX>(max_it_in, SIMD_EPSILON)
-	{
-	}
-
-	virtual ~btConjugateGradient() {}
-
-	// return the number of iterations taken
-	int solve(MatrixX& A, TVStack& x, const TVStack& b, bool verbose = false)
-	{
-		BT_PROFILE("CGSolve");
-		btAssert(x.size() == b.size());
-		reinitialize(b);
-		temp = b;
-		A.project(temp);
-		p = temp;
-		A.precondition(p, z);
-		btScalar d0 = this->dot(z, temp);
-		d0 = btMin(btScalar(1), d0);
-		// r = b - A * x --with assigned dof zeroed out
-		A.multiply(x, temp);
-		r = this->sub(b, temp);
-		A.project(r);
-		// z = M^(-1) * r
-		A.precondition(r, z);
-		A.project(z);
-		btScalar r_dot_z = this->dot(z, r);
-		if (r_dot_z <= Base::m_tolerance * d0)
-		{
-			if (verbose)
-			{
-				std::cout << "Iteration = 0" << std::endl;
-				std::cout << "Two norm of the residual = " << r_dot_z << std::endl;
-			}
-			return 0;
-		}
-		p = z;
-		btScalar r_dot_z_new = r_dot_z;
-		for (int k = 1; k <= Base::m_maxIterations; k++)
-		{
-			// temp = A*p
-			A.multiply(p, temp);
-			A.project(temp);
-			if (this->dot(p, temp) < 0)
-			{
-				if (verbose)
-					std::cout << "Encountered negative direction in CG!" << std::endl;
-				if (k == 1)
-				{
-					x = b;
-				}
-				return k;
-			}
-			// alpha = r^T * z / (p^T * A * p)
-			btScalar alpha = r_dot_z_new / this->dot(p, temp);
-			//  x += alpha * p;
-			this->multAndAddTo(alpha, p, x);
-			//  r -= alpha * temp;
-			this->multAndAddTo(-alpha, temp, r);
-			// z = M^(-1) * r
-			A.precondition(r, z);
-			r_dot_z = r_dot_z_new;
-			r_dot_z_new = this->dot(r, z);
-			if (r_dot_z_new < Base::m_tolerance * d0)
-			{
-				if (verbose)
-				{
-					std::cout << "ConjugateGradient iterations " << k << " residual = " << r_dot_z_new << std::endl;
-				}
-				return k;
-			}
-
-			btScalar beta = r_dot_z_new / r_dot_z;
-			p = this->multAndAdd(beta, p, z);
-		}
-		if (verbose)
-		{
-			std::cout << "ConjugateGradient max iterations reached " << Base::m_maxIterations << " error = " << r_dot_z_new << std::endl;
-		}
-		return Base::m_maxIterations;
-	}
-
-	void reinitialize(const TVStack& b)
-	{
-		r.resize(b.size());
-		p.resize(b.size());
-		z.resize(b.size());
-		temp.resize(b.size());
-	}
-};
-#endif /* btConjugateGradient_h */