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diff --git a/src/BulletSoftBody/btDeformableBodySolver.h b/src/BulletSoftBody/btDeformableBodySolver.h
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+++ b/src/BulletSoftBody/btDeformableBodySolver.h
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+/*
+ 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_BODY_SOLVERS_H
+#define BT_DEFORMABLE_BODY_SOLVERS_H
+
+
+#include "btSoftBodySolvers.h"
+#include "btDeformableBackwardEulerObjective.h"
+#include "btDeformableRigidDynamicsWorld.h"
+#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
+#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h"
+
+struct btCollisionObjectWrapper;
+class btDeformableBackwardEulerObjective;
+class btDeformableRigidDynamicsWorld;
+
+class btDeformableBodySolver : public btSoftBodySolver
+{
+//    using TVStack = btAlignedObjectArray<btVector3>;
+    typedef btAlignedObjectArray<btVector3> TVStack;
+protected:
+    int m_numNodes;
+    TVStack m_dv;
+    TVStack m_residual;
+    btAlignedObjectArray<btSoftBody *> m_softBodySet;
+   
+    btAlignedObjectArray<btVector3> m_backupVelocity;
+    btScalar m_dt;
+    btConjugateGradient<btDeformableBackwardEulerObjective> m_cg;
+    
+    
+public:
+    btDeformableBackwardEulerObjective* m_objective;
+    
+    btDeformableBodySolver();
+    
+    virtual ~btDeformableBodySolver();
+    
+    virtual SolverTypes getSolverType() const
+    {
+        return DEFORMABLE_SOLVER;
+    }
+
+    virtual void updateSoftBodies();
+
+    virtual void copyBackToSoftBodies(bool bMove = true) {}
+
+    void extracted(float solverdt);
+    
+    virtual void solveConstraints(float solverdt);
+    
+    void reinitialize(const btAlignedObjectArray<btSoftBody *>& softBodies, btScalar dt);
+    
+    void setConstraints();
+    
+    void predictDeformableMotion(btSoftBody* psb, btScalar dt);
+    
+    void backupVelocity();
+    void revertVelocity();
+    void updateVelocity();
+    
+    bool updateNodes();
+    
+    void computeStep(TVStack& dv, const TVStack& residual);
+                     
+    virtual void predictMotion(float solverdt);
+
+    virtual void copySoftBodyToVertexBuffer(const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer) {}
+
+    virtual void processCollision(btSoftBody * softBody, const btCollisionObjectWrapper * collisionObjectWrap)
+    {
+        softBody->defaultCollisionHandler(collisionObjectWrap);
+    }
+
+    virtual void processCollision(btSoftBody * softBody, btSoftBody * otherSoftBody) {
+        softBody->defaultCollisionHandler(otherSoftBody);
+    }
+    virtual void optimize(btAlignedObjectArray<btSoftBody *> &softBodies, bool forceUpdate = false){}
+    virtual bool checkInitialized(){return true;}
+    virtual void setWorld(btDeformableRigidDynamicsWorld* world);
+};
+
+#endif /* btDeformableBodySolver_h */