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diff --git a/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h b/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h
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+++ b/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h
@@ -0,0 +1,92 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2013 Erwin Coumans  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_FEATHERSTONE_LINK_COLLIDER_H
+#define BT_FEATHERSTONE_LINK_COLLIDER_H
+
+#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
+
+#include "btMultiBody.h"
+
+class btMultiBodyLinkCollider : public btCollisionObject
+{
+//protected:
+public:
+
+	btMultiBody* m_multiBody;
+	int m_link;
+
+
+	btMultiBodyLinkCollider (btMultiBody* multiBody,int link)
+		:m_multiBody(multiBody),
+		m_link(link)
+	{
+		m_checkCollideWith =  true;
+		//we need to remove the 'CF_STATIC_OBJECT' flag, otherwise links/base doesn't merge islands
+		//this means that some constraints might point to bodies that are not in the islands, causing crashes
+		//if (link>=0 || (multiBody && !multiBody->hasFixedBase()))
+		{
+			m_collisionFlags &= (~btCollisionObject::CF_STATIC_OBJECT);
+		}
+		// else
+		//{
+		//	m_collisionFlags |= (btCollisionObject::CF_STATIC_OBJECT);
+		//}
+
+		m_internalType = CO_FEATHERSTONE_LINK;
+	}
+	static btMultiBodyLinkCollider* upcast(btCollisionObject* colObj)
+	{
+		if (colObj->getInternalType()&btCollisionObject::CO_FEATHERSTONE_LINK)
+			return (btMultiBodyLinkCollider*)colObj;
+		return 0;
+	}
+	static const btMultiBodyLinkCollider* upcast(const btCollisionObject* colObj)
+	{
+		if (colObj->getInternalType()&btCollisionObject::CO_FEATHERSTONE_LINK)
+			return (btMultiBodyLinkCollider*)colObj;
+		return 0;
+	}
+
+	virtual bool checkCollideWithOverride(const  btCollisionObject* co) const
+	{
+		const btMultiBodyLinkCollider* other = btMultiBodyLinkCollider::upcast(co);
+		if (!other)
+			return true;
+		if (other->m_multiBody != this->m_multiBody)
+			return true;
+		if (!m_multiBody->hasSelfCollision())
+			return false;
+
+		//check if 'link' has collision disabled
+		if (m_link>=0)
+		{
+			const btMultibodyLink& link = m_multiBody->getLink(this->m_link);
+			if ((link.m_flags&BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION) && link.parent == other->m_link)
+				return false;
+		}
+		
+		if (other->m_link>=0)
+		{
+			const btMultibodyLink& otherLink = other->m_multiBody->getLink(other->m_link);
+			if ((otherLink.m_flags& BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION) && otherLink.parent == this->m_link)
+				return false;
+		}
+		return true;
+	}
+};
+
+#endif //BT_FEATHERSTONE_LINK_COLLIDER_H
+