From 710ac09b565b7c5759c09456b3861b42ed833e24 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Sun, 11 Dec 2016 09:16:18 -0800
Subject: [PATCH] fix clearVelocities (should use 6+dofCount, not 6+numLinks
 fixes issue 878

---
 src/BulletDynamics/Featherstone/btMultiBody.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/BulletDynamics/Featherstone/btMultiBody.cpp b/src/BulletDynamics/Featherstone/btMultiBody.cpp
index b85656875..3c6b6154c 100644
--- a/src/BulletDynamics/Featherstone/btMultiBody.cpp
+++ b/src/BulletDynamics/Featherstone/btMultiBody.cpp
@@ -570,7 +570,7 @@ void btMultiBody::clearForcesAndTorques()
 
 void btMultiBody::clearVelocities()
 {
-	for (int i = 0; i < 6 + getNumLinks(); ++i) 
+	for (int i = 0; i < 6 + getNumDofs(); ++i) 
 	{
 		m_realBuf[i] = 0.f;
 	}