Merge branch 'master' of https://github.com/erwincoumans/bullet3

src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h

@@ -63,7 +63,7 @@ typedef btAlignedObjectArray<btIndexedMesh>	IndexedMeshArray;
 
 ///The btTriangleIndexVertexArray allows to access multiple triangle meshes, by indexing into existing triangle/index arrays.
 ///Additional meshes can be added using addIndexedMesh
-///No duplcate is made of the vertex/index data, it only indexes into external vertex/index arrays.
+///No duplicate is made of the vertex/index data, it only indexes into external vertex/index arrays.
 ///So keep those arrays around during the lifetime of this btTriangleIndexVertexArray.
 ATTRIBUTE_ALIGNED16( class) btTriangleIndexVertexArray : public btStridingMeshInterface
 {

src/BulletDynamics/Featherstone/btMultiBody.cpp

@@ -136,6 +136,9 @@ btMultiBody::btMultiBody(int n_links,
 
     m_baseForce.setValue(0, 0, 0);
     m_baseTorque.setValue(0, 0, 0);
+
+	clearConstraintForces();
+	clearForcesAndTorques();
 }
 
 btMultiBody::~btMultiBody()

src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp

@@ -411,6 +411,8 @@ void	btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
 
 	BT_PROFILE("solveConstraints");
 	
+	clearMultiBodyConstraintForces();
+
 	m_sortedConstraints.resize( m_constraints.size());
 	int i; 
 	for (i=0;i<getNumConstraints();i++)
@@ -669,7 +671,7 @@ void	btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
 		}
 	}
 
-	clearMultiBodyConstraintForces();
+	
 
 	m_solverMultiBodyIslandCallback->processConstraints();
 	

src/BulletDynamics/Featherstone/btMultiBodyLink.h

@@ -182,6 +182,8 @@ btVector3 m_appliedConstraintForce;    // In WORLD frame
 		m_cachedRVector.setValue(0, 0, 0);
 		m_appliedForce.setValue( 0, 0, 0);
 		m_appliedTorque.setValue(0, 0, 0);
+		m_appliedConstraintForce.setValue(0,0,0);
+		m_appliedConstraintTorque.setValue(0,0,0);
 		//		
 		m_jointPos[0] = m_jointPos[1] = m_jointPos[2] = m_jointPos[4] = m_jointPos[5] = m_jointPos[6] = 0.f;
 		m_jointPos[3] = 1.f;			//"quat.w"