diff --git a/src/3rdparty/bullet3 b/src/3rdparty/bullet3
index 4a404128..d3593458 160000
--- a/src/3rdparty/bullet3
+++ b/src/3rdparty/bullet3
@@ -1 +1 @@
-Subproject commit 4a404128cbfd525cef1ab8754d22f05f662714d6
+Subproject commit d35934588cc24ec2bc99e9553edef3d63a1a99e9
diff --git a/src/3rdparty/lol-bullet.am b/src/3rdparty/lol-bullet.am
index d3f91433..c475e3b3 100644
--- a/src/3rdparty/lol-bullet.am
+++ b/src/3rdparty/lol-bullet.am
@@ -560,6 +560,8 @@ bullet_sources += \
 	bullet3/src/BulletDynamics/Featherstone/btMultiBodySliderConstraint.cpp \
 	bullet3/src/BulletDynamics/Featherstone/btMultiBodySliderConstraint.h \
 	bullet3/src/BulletDynamics/Featherstone/btMultiBodySolverConstraint.h \
+	bullet3/src/BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.cpp \
+	bullet3/src/BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.h \
 	bullet3/src/BulletDynamics/MLCPSolvers/btDantzigLCP.cpp \
 	bullet3/src/BulletDynamics/MLCPSolvers/btDantzigLCP.h \
 	bullet3/src/BulletDynamics/MLCPSolvers/btDantzigSolver.h \
diff --git a/src/3rdparty/lol-bullet.vcxproj b/src/3rdparty/lol-bullet.vcxproj
index 8bbc42fd..fcd54342 100644
--- a/src/3rdparty/lol-bullet.vcxproj
+++ b/src/3rdparty/lol-bullet.vcxproj
@@ -610,6 +610,8 @@
     <ClCompile Include="bullet3/src/BulletDynamics/Featherstone/btMultiBodySliderConstraint.cpp" />
     <ClInclude Include="bullet3/src/BulletDynamics/Featherstone/btMultiBodySliderConstraint.h" />
     <ClInclude Include="bullet3/src/BulletDynamics/Featherstone/btMultiBodySolverConstraint.h" />
+    <ClCompile Include="bullet3/src/BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.cpp" />
+    <ClInclude Include="bullet3/src/BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.h" />
     <ClCompile Include="bullet3/src/BulletDynamics/MLCPSolvers/btDantzigLCP.cpp" />
     <ClInclude Include="bullet3/src/BulletDynamics/MLCPSolvers/btDantzigLCP.h" />
     <ClInclude Include="bullet3/src/BulletDynamics/MLCPSolvers/btDantzigSolver.h" />