From 076c8b11df6392421a6d7b5b2e8090c4400aac4f Mon Sep 17 00:00:00 2001
From: Xuchen Han <xuchenhan2015@u.northwestern.edu>
Date: Fri, 16 Aug 2019 13:51:50 -0700
Subject: [PATCH] revert the changes to damping of multibody external forces

---
 src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
index c05ab420f..386f1dfd1 100644
--- a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
+++ b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
@@ -593,14 +593,10 @@ void btMultiBodyDynamicsWorld::solveExternalForces(btContactSolverInfo& solverIn
                 {
                     if (!bod->isUsingRK4Integration())
                     {
-                        // avoid damping in external forces (e.g. gravity)
-                        const btScalar linearDamp = bod->getLinearDamping();
-                        bod->setLinearDamping(0);
                         bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep,
                                                                                   m_scratch_r, m_scratch_v, m_scratch_m,isConstraintPass,
                                                                                   getSolverInfo().m_jointFeedbackInWorldSpace,
                                                                                   getSolverInfo().m_jointFeedbackInJointFrame);
-                        bod->setLinearDamping(linearDamp);
                     }
                     else
                     {