diff --git a/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h b/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
index 1025da42f..db5bb5e4c 100644
--- a/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
+++ b/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
@@ -35,7 +35,7 @@ struct btContactSolverInfoData
 	
 
 	btScalar	m_tau;
-	btScalar	m_damping;
+	btScalar	m_damping;//global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
 	btScalar	m_friction;
 	btScalar	m_timeStep;
 	btScalar	m_restitution;
diff --git a/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp b/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp
index 50ad71ab5..7e0d93b97 100644
--- a/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp
+++ b/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp
@@ -159,6 +159,7 @@ void btPoint2PointConstraint::getInfo2NonVirtual (btConstraintInfo2* info, const
 			info->m_upperLimit[j*info->rowskip] = impulseClamp;
 		}
 	}
+	info->m_damping = m_setting.m_damping;
 	
 }
 
diff --git a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
index 527338ea1..74f2a35cd 100644
--- a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
+++ b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
@@ -852,6 +852,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
 					btAssert(info2.rowskip*sizeof(btScalar)== sizeof(btSolverConstraint));
 					info2.m_constraintError = &currentConstraintRow->m_rhs;
 					currentConstraintRow->m_cfm = infoGlobal.m_globalCfm;
+					info2.m_damping = infoGlobal.m_damping;
 					info2.cfm = &currentConstraintRow->m_cfm;
 					info2.m_lowerLimit = &currentConstraintRow->m_lowerLimit;
 					info2.m_upperLimit = &currentConstraintRow->m_upperLimit;
@@ -899,7 +900,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
 
 							btScalar restitution = 0.f;
 							btScalar positionalError = solverConstraint.m_rhs;//already filled in by getConstraintInfo2
-							btScalar	velocityError = restitution - rel_vel;// * damping;
+							btScalar	velocityError = restitution - rel_vel * info2.m_damping;
 							btScalar	penetrationImpulse = positionalError*solverConstraint.m_jacDiagABInv;
 							btScalar	velocityImpulse = velocityError *solverConstraint.m_jacDiagABInv;
 							solverConstraint.m_rhs = penetrationImpulse+velocityImpulse;
diff --git a/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h b/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h
index 7d3627ce3..4ed251952 100644
--- a/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h
+++ b/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h
@@ -125,6 +125,9 @@ public:
 		int *findex;
 		// number of solver iterations
 		int m_numIterations;
+
+		//damping of the velocity
+		btScalar	m_damping;
 	};
 
 	///internal method used by the constraint solver, don't use them directly