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diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h b/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h
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+++ b/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h
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+/*
+ 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_DEFORMABLE_MULTIBODY_CONSTRAINT_SOLVER_H
+#define BT_DEFORMABLE_MULTIBODY_CONSTRAINT_SOLVER_H
+
+#include "btDeformableBodySolver.h"
+#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
+
+class btDeformableBodySolver;
+
+// btDeformableMultiBodyConstraintSolver extendsn btMultiBodyConstraintSolver to solve for the contact among rigid/multibody and deformable bodies. Notice that the following constraints
+// 1. rigid/multibody against rigid/multibody
+// 2. rigid/multibody against deforamble
+// 3. deformable against deformable
+// 4. deformable self collision
+// 5. joint constraints
+// are all coupled in this solve.
+ATTRIBUTE_ALIGNED16(class)
+btDeformableMultiBodyConstraintSolver : public btMultiBodyConstraintSolver
+{
+    btDeformableBodySolver* m_deformableSolver;
+    
+protected:
+    // override the iterations method to include deformable/multibody contact
+//    virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
+    
+    // write the velocity of the the solver body to the underlying rigid body
+    void solverBodyWriteBack(const btContactSolverInfo& infoGlobal);
+
+    // write the velocity of the underlying rigid body to the the the solver body
+    void writeToSolverBody(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal);
+    
+    virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
+    
+    virtual btScalar solveDeformableGroupIterations(btCollisionObject** bodies,int numBodies,btCollisionObject** deformableBodies,int numDeformableBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
+public:
+    BT_DECLARE_ALIGNED_ALLOCATOR();
+    
+    void setDeformableSolver(btDeformableBodySolver* deformableSolver)
+    {
+        m_deformableSolver = deformableSolver;
+    }
+    
+    virtual void solveDeformableBodyGroup(btCollisionObject * *bodies, int numBodies, btCollisionObject * *deformableBodies, int numDeformableBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher);
+};
+
+#endif /* BT_DEFORMABLE_MULTIBODY_CONSTRAINT_SOLVER_H */