diff --git a/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp b/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
index aa543aabc..755544f0d 100644
--- a/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
+++ b/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
@@ -638,6 +638,11 @@ void btConeTwistConstraint::calcAngleInfo2(const btTransform& transA, const btTr
 		btTransform trDeltaAB = trB * trPose * trA.inverse();
 		btQuaternion qDeltaAB = trDeltaAB.getRotation();
 		btVector3 swingAxis = 	btVector3(qDeltaAB.x(), qDeltaAB.y(), qDeltaAB.z());
+		float swingAxisLen2 = swingAxis.length2();
+		if(btFuzzyZero(swingAxisLen2))
+		{
+		   return;
+		}
 		m_swingAxis = swingAxis;
 		m_swingAxis.normalize();
 		m_swingCorrection = qDeltaAB.getAngle();