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diff --git a/thirdparty/bullet/src/LinearMath/btPolarDecomposition.h b/thirdparty/bullet/src/LinearMath/btPolarDecomposition.h
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-#ifndef POLARDECOMPOSITION_H
-#define POLARDECOMPOSITION_H
-
-#include "btMatrix3x3.h"
-
-/**
- * This class is used to compute the polar decomposition of a matrix. In
- * general, the polar decomposition factorizes a matrix, A, into two parts: a
- * unitary matrix (U) and a positive, semi-definite Hermitian matrix (H).
- * However, in this particular implementation the original matrix, A, is
- * required to be a square 3x3 matrix with real elements. This means that U will
- * be an orthogonal matrix and H with be a positive-definite, symmetric matrix.
- */
-class btPolarDecomposition
-{
- public:
-
-
- /**
- * Creates an instance with optional parameters.
- *
- * @param tolerance - the tolerance used to determine convergence of the
- * algorithm
- * @param maxIterations - the maximum number of iterations used to achieve
- * convergence
- */
- btPolarDecomposition(btScalar tolerance = btScalar(0.0001),
- unsigned int maxIterations = 16);
-
- /**
- * Decomposes a matrix into orthogonal and symmetric, positive-definite
- * parts. If the number of iterations returned by this function is equal to
- * the maximum number of iterations, the algorithm has failed to converge.
- *
- * @param a - the original matrix
- * @param u - the resulting orthogonal matrix
- * @param h - the resulting symmetric matrix
- *
- * @return the number of iterations performed by the algorithm.
- */
- unsigned int decompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h) const;
-
- /**
- * Returns the maximum number of iterations that this algorithm will perform
- * to achieve convergence.
- *
- * @return maximum number of iterations
- */
- unsigned int maxIterations() const;
-
- private:
- btScalar m_tolerance;
- unsigned int m_maxIterations;
-};
-
-/**
- * This functions decomposes the matrix 'a' into two parts: an orthogonal matrix
- * 'u' and a symmetric, positive-definite matrix 'h'. If the number of
- * iterations returned by this function is equal to
- * btPolarDecomposition::DEFAULT_MAX_ITERATIONS, the algorithm has failed to
- * converge.
- *
- * @param a - the original matrix
- * @param u - the resulting orthogonal matrix
- * @param h - the resulting symmetric matrix
- *
- * @return the number of iterations performed by the algorithm.
- */
-unsigned int polarDecompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h);
-
-#endif // POLARDECOMPOSITION_H
-