From 684b69f4ddb48748b0eb2ab5ea9fd49418bd0c6a Mon Sep 17 00:00:00 2001
From: Erwin Coumans
 <erwincoumans@erwincoumans-macbookpro2.roam.corp.google.com>
Date: Fri, 3 Aug 2018 17:57:09 -0700
Subject: [PATCH] fix applied too fast

---
 src/BulletDynamics/Featherstone/btMultiBody.cpp | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/src/BulletDynamics/Featherstone/btMultiBody.cpp b/src/BulletDynamics/Featherstone/btMultiBody.cpp
index a4014adde..34fe4b8de 100644
--- a/src/BulletDynamics/Featherstone/btMultiBody.cpp
+++ b/src/BulletDynamics/Featherstone/btMultiBody.cpp
@@ -967,12 +967,11 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar
 			//
 			Y[m_links[i].m_dofOffset + dof] = m_links[i].m_jointTorque[dof]
 			- m_links[i].m_axes[dof].dot(zeroAccSpatFrc[i+1])
-			- spatCoriolisAcc[i].dot(hDof)
-			;
+			- spatCoriolisAcc[i].dot(hDof);
 
 		}
  		for(int dof = 0; dof < m_links[i].m_dofCount; ++dof)
-		}
+		{	
 			btScalar *D_row = &D[dof * m_links[i].m_dofCount];
 			for(int dof2 = 0; dof2 < m_links[i].m_dofCount; ++dof2)
 			{