From 7494463be8f2c9b8366fbf118fdbeccafcf92192 Mon Sep 17 00:00:00 2001
From: "erwin.coumans" <erwin.coumans@08e121b0-ae19-0410-a57b-3be3395fd4fd>
Date: Thu, 20 Sep 2012 11:32:27 +0000
Subject: [PATCH] reset the companion Id back to -1, because of a bug related
 to kinematic objects Thanks to Francois for the report. See Issue 652

---
 .../btSequentialImpulseConstraintSolver.cpp   | 35 +++++++------------
 1 file changed, 12 insertions(+), 23 deletions(-)

diff --git a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
index e39dfc97e..68af3d5b6 100644
--- a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
+++ b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
@@ -1555,36 +1555,25 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCo
 
 
 
-	if (infoGlobal.m_splitImpulse)
-	{		
-		for ( i=0;i<m_tmpSolverBodyPool.size();i++)
+	for ( i=0;i<m_tmpSolverBodyPool.size();i++)
+	{
+		btRigidBody* body = m_tmpSolverBodyPool[i].m_originalBody;
+		if (body)
 		{
-			btRigidBody* body = m_tmpSolverBodyPool[i].m_originalBody;
-			if (body)
-			{
+			if (infoGlobal.m_splitImpulse)
 				m_tmpSolverBodyPool[i].writebackVelocityAndTransform(infoGlobal.m_timeStep, infoGlobal.m_splitImpulseTurnErp);
-				m_tmpSolverBodyPool[i].m_originalBody->setLinearVelocity(m_tmpSolverBodyPool[i].m_linearVelocity);
-				m_tmpSolverBodyPool[i].m_originalBody->setAngularVelocity(m_tmpSolverBodyPool[i].m_angularVelocity);
+			else
+				m_tmpSolverBodyPool[i].writebackVelocity();
+
+			m_tmpSolverBodyPool[i].m_originalBody->setLinearVelocity(m_tmpSolverBodyPool[i].m_linearVelocity);
+			m_tmpSolverBodyPool[i].m_originalBody->setAngularVelocity(m_tmpSolverBodyPool[i].m_angularVelocity);
+			if (infoGlobal.m_splitImpulse)
 				m_tmpSolverBodyPool[i].m_originalBody->setWorldTransform(m_tmpSolverBodyPool[i].m_worldTransform);
 
-			}
-		}
-	} else
-	{
-		for ( i=0;i<m_tmpSolverBodyPool.size();i++)
-		{
-			btRigidBody* body = m_tmpSolverBodyPool[i].m_originalBody;
-			if (body)
-			{
-				m_tmpSolverBodyPool[i].writebackVelocity();
-				m_tmpSolverBodyPool[i].m_originalBody->setLinearVelocity(m_tmpSolverBodyPool[i].m_linearVelocity);
-				m_tmpSolverBodyPool[i].m_originalBody->setAngularVelocity(m_tmpSolverBodyPool[i].m_angularVelocity);
-			}
+			m_tmpSolverBodyPool[i].m_originalBody->setCompanionId(-1);
 		}
 	}
 
-	
-
 	m_tmpSolverContactConstraintPool.resizeNoInitialize(0);
 	m_tmpSolverNonContactConstraintPool.resizeNoInitialize(0);
 	m_tmpSolverContactFrictionConstraintPool.resizeNoInitialize(0);