From cfbd6c512a98ccaa4caa63a50bbead90c38a71aa Mon Sep 17 00:00:00 2001
From: Xuchen Han <xuchenhan2015@u.northwestern.edu>
Date: Mon, 12 Aug 2019 12:06:55 -0700
Subject: [PATCH] fix bug introduced in clearing m_manifold;
 7e37d3fd21069571adb4c1e4ffacbd71dd02c0ba

---
 .../Featherstone/btMultiBodyDynamicsWorld.cpp             | 8 +-------
 1 file changed, 1 insertion(+), 7 deletions(-)

diff --git a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
index 602c94926..9da8496c6 100644
--- a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
+++ b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
@@ -375,15 +375,10 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::
 			m_islandAnalyticsData.push_back(m_solver->m_analyticsData);
 		}
 		m_bodies.resize(0);
-//        m_manifolds.resize(0);
+        m_manifolds.resize(0);
 		m_constraints.resize(0);
 		m_multiBodyConstraints.resize(0);
 	}
-    
-    void clearContactConstraints()
-    {
-        m_manifolds.resize(0);
-    }
 };
 
 void btMultiBodyDynamicsWorld::getAnalyticsData(btAlignedObjectArray<btSolverAnalyticsData>& islandAnalyticsData) const
@@ -435,7 +430,6 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
     solveExternalForces(solverInfo);
     buildIslands();
     solveInternalConstraints(solverInfo);
-    m_solverMultiBodyIslandCallback->clearContactConstraints();
 }
 
 void btMultiBodyDynamicsWorld::buildIslands()