From 0309615b49e00436add006d6501bd5454b760d72 Mon Sep 17 00:00:00 2001
From: Stephen Gold <sgold@sonic.net>
Date: Sun, 10 Jan 2021 10:35:44 -0800
Subject: [PATCH] btRaycastVehicle.cpp: forward impulse way too strong when
 sideImpulse==0

---
 src/BulletDynamics/Vehicle/btRaycastVehicle.cpp | 9 +++------
 1 file changed, 3 insertions(+), 6 deletions(-)

diff --git a/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp b/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
index fc70d8e637..b23c9d9b0f 100644
--- a/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
+++ b/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
@@ -609,13 +609,10 @@ void btRaycastVehicle::updateFriction(btScalar timeStep)
 	{
 		for (int wheel = 0; wheel < getNumWheels(); wheel++)
 		{
-			if (m_sideImpulse[wheel] != btScalar(0.))
+			if (m_wheelInfo[wheel].m_skidInfo < btScalar(1.))
 			{
-				if (m_wheelInfo[wheel].m_skidInfo < btScalar(1.))
-				{
-					m_forwardImpulse[wheel] *= m_wheelInfo[wheel].m_skidInfo;
-					m_sideImpulse[wheel] *= m_wheelInfo[wheel].m_skidInfo;
-				}
+				m_forwardImpulse[wheel] *= m_wheelInfo[wheel].m_skidInfo;
+				m_sideImpulse[wheel] *= m_wheelInfo[wheel].m_skidInfo;
 			}
 		}
 	}