diff --git a/src/BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp b/src/BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp
index 84f6f39fe..d2ebf29ef 100644
--- a/src/BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp
+++ b/src/BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp
@@ -4,8 +4,8 @@ Copyright (c) 2013 Erwin Coumans  http://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
 subject to the following restrictions:
 
 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
@@ -26,7 +26,7 @@ subject to the following restrictions:
 #endif
 
 btMultiBodyPoint2Point::btMultiBodyPoint2Point(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB)
-	:btMultiBodyConstraint(body,0,link,-1,BTMBP2PCONSTRAINT_DIM,false),	
+	:btMultiBodyConstraint(body,0,link,-1,BTMBP2PCONSTRAINT_DIM,false),
 	m_rigidBodyA(0),
 	m_rigidBodyB(bodyB),
 	m_pivotInA(pivotInA),
@@ -95,15 +95,23 @@ void btMultiBodyPoint2Point::createConstraintRows(btMultiBodyConstraintArray& co
 		const btContactSolverInfo& infoGlobal)
 {
 
-//	int i=1;
-	for (int i=0;i<BTMBP2PCONSTRAINT_DIM;i++)
+//	int i=1;
+int numDim = BTMBP2PCONSTRAINT_DIM;
+	for (int i=0;i<numDim;i++)
 	{
 
 		btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();
+        //memset(&constraintRow,0xffffffff,sizeof(btMultiBodySolverConstraint));
+        constraintRow.m_relpos1CrossNormal.setValue(0,0,0);
+        constraintRow.m_contactNormal1.setValue(0,0,0);
+        constraintRow.m_relpos2CrossNormal.setValue(0,0,0);
+        constraintRow.m_contactNormal2.setValue(0,0,0);
+        constraintRow.m_angularComponentA.setValue(0,0,0);
+        constraintRow.m_angularComponentB.setValue(0,0,0);
 
 		constraintRow.m_solverBodyIdA = data.m_fixedBodyId;
 		constraintRow.m_solverBodyIdB = data.m_fixedBodyId;
-		
+
 		btVector3 contactNormalOnB(0,0,0);
 #ifndef BTMBP2PCONSTRAINT_BLOCK_ANGULAR_MOTION_TEST
 		contactNormalOnB[i] = -1;
@@ -117,7 +125,7 @@ void btMultiBodyPoint2Point::createConstraintRows(btMultiBodyConstraintArray& co
 		btVector3 pivotAworld = m_pivotInA;
 		if (m_rigidBodyA)
 		{
-			
+
 			constraintRow.m_solverBodyIdA = m_rigidBodyA->getCompanionId();
 			pivotAworld = m_rigidBodyA->getCenterOfMassTransform()*m_pivotInA;
 		} else
@@ -134,20 +142,22 @@ void btMultiBodyPoint2Point::createConstraintRows(btMultiBodyConstraintArray& co
 		{
 			if (m_bodyB)
 				pivotBworld = m_bodyB->localPosToWorld(m_linkB, m_pivotInB);
-			
+
 		}
 
 		btScalar posError = i < 3 ? (pivotAworld-pivotBworld).dot(contactNormalOnB) : 0;
 
-#ifndef BTMBP2PCONSTRAINT_BLOCK_ANGULAR_MOTION_TEST		
-		
+#ifndef BTMBP2PCONSTRAINT_BLOCK_ANGULAR_MOTION_TEST
+
 
 		fillMultiBodyConstraint(constraintRow, data, 0, 0,
 															contactNormalOnB, pivotAworld, pivotBworld,						//sucks but let it be this way "for the time being"
 															posError,
 															infoGlobal,
 															-m_maxAppliedImpulse, m_maxAppliedImpulse
-															);
+															);
+    //@todo: support the case of btMultiBody versus btRigidBody,
+    //see btPoint2PointConstraint::getInfo2NonVirtual
 #else
 		const btVector3 dummy(0, 0, 0);
 
@@ -167,4 +177,4 @@ void btMultiBodyPoint2Point::createConstraintRows(btMultiBodyConstraintArray& co
 													);
 #endif
 	}
-}
\ No newline at end of file
+}