From c480fab9a0ca054a22a94caf3e7ce6b0a43d1a61 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Wed, 18 Oct 2017 19:47:32 -0700
Subject: [PATCH] make btMultiBodyFixedConstraint.cpp linear/angular constraint
 frame consistent

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

diff --git a/src/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.cpp b/src/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.cpp
index 0f0d9f67b..339b3800c 100644
--- a/src/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.cpp
+++ b/src/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.cpp
@@ -156,7 +156,7 @@ void btMultiBodyFixedConstraint::createConstraintRows(btMultiBodyConstraintArray
         btVector3 constraintNormalAng(0,0,0);
         btScalar posError = 0.0;
         if (i < 3) {
-            constraintNormalLin[i] = -1;
+            constraintNormalLin[i] = 1;
             posError = (pivotAworld-pivotBworld).dot(constraintNormalLin);
             fillMultiBodyConstraint(constraintRow, data, 0, 0, constraintNormalAng,
                                     constraintNormalLin, pivotAworld, pivotBworld,