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diff --git a/thirdparty/bullet/BulletSoftBody/btConjugateResidual.h b/thirdparty/bullet/BulletSoftBody/btConjugateResidual.h
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--- a/thirdparty/bullet/BulletSoftBody/btConjugateResidual.h
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@@ -1,112 +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_RESIDUAL_H
-#define BT_CONJUGATE_RESIDUAL_H
-#include "btKrylovSolver.h"
-
-template <class MatrixX>
-class btConjugateResidual : public btKrylovSolver<MatrixX>
-{
-	typedef btAlignedObjectArray<btVector3> TVStack;
-	typedef btKrylovSolver<MatrixX> Base;
-	TVStack r, p, z, temp_p, temp_r, best_x;
-	// temp_r = A*r
-	// temp_p = A*p
-	// z = M^(-1) * temp_p = M^(-1) * A * p
-	btScalar best_r;
-
-public:
-	btConjugateResidual(const int max_it_in)
-		: Base(max_it_in, 1e-8)
-	{
-	}
-
-	virtual ~btConjugateResidual() {}
-
-	// return the number of iterations taken
-	int solve(MatrixX& A, TVStack& x, const TVStack& b, bool verbose = false)
-	{
-		BT_PROFILE("CRSolve");
-		btAssert(x.size() == b.size());
-		reinitialize(b);
-		// r = b - A * x --with assigned dof zeroed out
-		A.multiply(x, temp_r);  // borrow temp_r here to store A*x
-		r = this->sub(b, temp_r);
-		// z = M^(-1) * r
-		A.precondition(r, z);  // borrow z to store preconditioned r
-		r = z;
-		btScalar residual_norm = this->norm(r);
-		if (residual_norm <= Base::m_tolerance)
-		{
-			return 0;
-		}
-		p = r;
-		btScalar r_dot_Ar, r_dot_Ar_new;
-		// temp_p = A*p
-		A.multiply(p, temp_p);
-		// temp_r = A*r
-		temp_r = temp_p;
-		r_dot_Ar = this->dot(r, temp_r);
-		for (int k = 1; k <= Base::m_maxIterations; k++)
-		{
-			// z = M^(-1) * Ap
-			A.precondition(temp_p, z);
-			// alpha = r^T * A * r / (Ap)^T * M^-1 * Ap)
-			btScalar alpha = r_dot_Ar / this->dot(temp_p, z);
-			//  x += alpha * p;
-			this->multAndAddTo(alpha, p, x);
-			//  r -= alpha * z;
-			this->multAndAddTo(-alpha, z, r);
-			btScalar norm_r = this->norm(r);
-			if (norm_r < best_r)
-			{
-				best_x = x;
-				best_r = norm_r;
-				if (norm_r < Base::m_tolerance)
-				{
-					return k;
-				}
-			}
-			// temp_r = A * r;
-			A.multiply(r, temp_r);
-			r_dot_Ar_new = this->dot(r, temp_r);
-			btScalar beta = r_dot_Ar_new / r_dot_Ar;
-			r_dot_Ar = r_dot_Ar_new;
-			// p = beta*p + r;
-			p = this->multAndAdd(beta, p, r);
-			// temp_p = beta*temp_p + temp_r;
-			temp_p = this->multAndAdd(beta, temp_p, temp_r);
-		}
-		if (verbose)
-		{
-			std::cout << "ConjugateResidual max iterations reached, residual = " << best_r << std::endl;
-		}
-		x = best_x;
-		return Base::m_maxIterations;
-	}
-
-	void reinitialize(const TVStack& b)
-	{
-		r.resize(b.size());
-		p.resize(b.size());
-		z.resize(b.size());
-		temp_p.resize(b.size());
-		temp_r.resize(b.size());
-		best_x.resize(b.size());
-		best_r = SIMD_INFINITY;
-	}
-};
-#endif /* btConjugateResidual_h */