diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 9f59c79d8..d70c012a0 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -10864,6 +10864,9 @@ static struct PyModuleDef moduledef = {
 };
 #endif
 
+#if __GNUC__ >= 4
+__attribute__((visibility ("default")))
+#endif
 PyMODINIT_FUNC
 #if PY_MAJOR_VERSION >= 3
 PyInit_pybullet(void)
diff --git a/setup.py b/setup.py
index adb6f3526..0e7429efc 100644
--- a/setup.py
+++ b/setup.py
@@ -370,6 +370,8 @@ if _platform == "linux" or _platform == "linux2":
     CXX_FLAGS += '-DDYNAMIC_LOAD_X11_FUNCTIONS '
     CXX_FLAGS += '-DHAS_SOCKLEN_T '
     CXX_FLAGS += '-fno-inline-functions-called-once '
+    CXX_FLAGS += '-fvisibility=hidden '
+    CXX_FLAGS += '-fvisibility-inlines-hidden '
     EGL_CXX_FLAGS += '-DBT_USE_EGL '
     EGL_CXX_FLAGS += '-fPIC ' # for plugins
 
diff --git a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
index 28b569935..9831adab7 100644
--- a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
+++ b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
@@ -736,6 +736,7 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
 				m_scratch_v.resize(bod->getNumLinks() + 1);
 				m_scratch_m.resize(bod->getNumLinks() + 1);
 
+				if (bod->internalNeedsJointFeedback())
 				{
 					if (!bod->isUsingRK4Integration())
 					{