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diff --git a/thirdparty/bullet/src/BulletSoftBody/btSoftBodySolvers.h b/thirdparty/bullet/src/BulletSoftBody/btSoftBodySolvers.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_SOFT_BODY_SOLVERS_H
+#define BT_SOFT_BODY_SOLVERS_H
+
+#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h"
+
+
+class btSoftBodyTriangleData;
+class btSoftBodyLinkData;
+class btSoftBodyVertexData;
+class btVertexBufferDescriptor;
+class btCollisionObject;
+class btSoftBody;
+
+
+class btSoftBodySolver
+{
+public:
+	enum SolverTypes
+	{
+		DEFAULT_SOLVER,
+		CPU_SOLVER,
+		CL_SOLVER,
+		CL_SIMD_SOLVER,
+		DX_SOLVER,
+		DX_SIMD_SOLVER
+	};
+
+
+protected:
+	int m_numberOfPositionIterations;
+	int m_numberOfVelocityIterations;
+	// Simulation timescale
+	float m_timeScale;
+	
+public:
+	btSoftBodySolver() :
+		m_numberOfPositionIterations( 10 ),
+		m_timeScale( 1 )
+	{
+		m_numberOfVelocityIterations = 0;
+		m_numberOfPositionIterations = 5;
+	}
+
+	virtual ~btSoftBodySolver()
+	{
+	}
+	
+	/**
+	 * Return the type of the solver.
+	 */
+	virtual SolverTypes getSolverType() const = 0;
+
+
+	/** Ensure that this solver is initialized. */
+	virtual bool checkInitialized() = 0;
+
+	/** Optimize soft bodies in this solver. */
+	virtual void optimize( btAlignedObjectArray< btSoftBody * > &softBodies , bool forceUpdate=false) = 0;
+
+	/** Copy necessary data back to the original soft body source objects. */
+	virtual void copyBackToSoftBodies(bool bMove = true) = 0;
+
+	/** Predict motion of soft bodies into next timestep */
+	virtual void predictMotion( float solverdt ) = 0;
+
+	/** Solve constraints for a set of soft bodies */
+	virtual void solveConstraints( float solverdt ) = 0;
+
+	/** Perform necessary per-step updates of soft bodies such as recomputing normals and bounding boxes */
+	virtual void updateSoftBodies() = 0;
+
+	/** Process a collision between one of the world's soft bodies and another collision object */
+	virtual void processCollision( btSoftBody *, const struct btCollisionObjectWrapper* ) = 0;
+
+	/** Process a collision between two soft bodies */
+	virtual void processCollision( btSoftBody*, btSoftBody* ) = 0;
+
+	/** Set the number of velocity constraint solver iterations this solver uses. */
+	virtual void setNumberOfPositionIterations( int iterations )
+	{
+		m_numberOfPositionIterations = iterations;
+	}
+
+	/** Get the number of velocity constraint solver iterations this solver uses. */
+	virtual int getNumberOfPositionIterations()
+	{
+		return m_numberOfPositionIterations;
+	}
+
+	/** Set the number of velocity constraint solver iterations this solver uses. */
+	virtual void setNumberOfVelocityIterations( int iterations )
+	{
+		m_numberOfVelocityIterations = iterations;
+	}
+
+	/** Get the number of velocity constraint solver iterations this solver uses. */
+	virtual int getNumberOfVelocityIterations()
+	{
+		return m_numberOfVelocityIterations;
+	}
+
+	/** Return the timescale that the simulation is using */
+	float getTimeScale()
+	{
+		return m_timeScale;
+	}
+
+#if 0
+	/**
+	 * Add a collision object to be used by the indicated softbody.
+	 */
+	virtual void addCollisionObjectForSoftBody( int clothIdentifier, btCollisionObject *collisionObject ) = 0;
+#endif
+};
+
+/** 
+ * Class to manage movement of data from a solver to a given target.
+ * This version is abstract. Subclasses will have custom pairings for different combinations.
+ */
+class btSoftBodySolverOutput
+{
+protected:
+
+public:
+	btSoftBodySolverOutput()
+	{
+	}
+
+	virtual ~btSoftBodySolverOutput()
+	{
+	}
+
+
+	/** Output current computed vertex data to the vertex buffers for all cloths in the solver. */
+	virtual void copySoftBodyToVertexBuffer( const btSoftBody * const softBody, btVertexBufferDescriptor *vertexBuffer ) = 0;
+};
+
+
+#endif // #ifndef BT_SOFT_BODY_SOLVERS_H