diff --git a/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp b/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
index 54914d27c..03a851219 100644
--- a/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
+++ b/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
@@ -163,7 +163,7 @@ void btConeTwistConstraint::getInfo2NonVirtual (btConstraintInfo2* info,const bt
 		btScalar *J2 = info->m_J2angularAxis;
 		if((m_swingSpan1 < m_fixThresh) && (m_swingSpan2 < m_fixThresh))
 		{
-			btTransform trA = m_rbA.getCenterOfMassTransform()*m_rbAFrame;
+			btTransform trA = transA*m_rbAFrame;
 			btVector3 p = trA.getBasis().getColumn(1);
 			btVector3 q = trA.getBasis().getColumn(2);
 			int srow1 = srow + info->rowskip;
@@ -296,6 +296,7 @@ void	btConeTwistConstraint::buildJacobian()
 
 void	btConeTwistConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar	timeStep)
 {
+	#ifndef __SPU__
 	if (m_useSolveConstraintObsolete)
 	{
 		btVector3 pivotAInW = m_rbA.getCenterOfMassTransform()*m_rbAFrame.getOrigin();
@@ -502,11 +503,14 @@ void	btConeTwistConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolver
 			}		
 		}
 	}
-
+#else
+btAssert(0);
+#endif //__SPU__
 }
 
 
 
+
 void	btConeTwistConstraint::updateRHS(btScalar	timeStep)
 {
 	(void)timeStep;
@@ -514,7 +518,7 @@ void	btConeTwistConstraint::updateRHS(btScalar	timeStep)
 }
 
 
-
+#ifndef __SPU__
 void btConeTwistConstraint::calcAngleInfo()
 {
 	m_swingCorrection = btScalar(0.);
@@ -600,7 +604,7 @@ void btConeTwistConstraint::calcAngleInfo()
 		}
 	}
 }
-
+#endif //__SPU__
 
 static btVector3 vTwist(1,0,0); // twist axis in constraint's space
 
@@ -677,8 +681,8 @@ void btConeTwistConstraint::calcAngleInfo2(const btTransform& transA, const btTr
 				m_twistAxisA.setValue(0,0,0);
 
 				m_kSwing =  btScalar(1.) /
-					(getRigidBodyA().computeAngularImpulseDenominator(m_swingAxis) +
-					 getRigidBodyB().computeAngularImpulseDenominator(m_swingAxis));
+					(computeAngularImpulseDenominator(m_swingAxis,invInertiaWorldA) +
+					 computeAngularImpulseDenominator(m_swingAxis,invInertiaWorldB));
 			}
 		}
 		else
@@ -780,8 +784,8 @@ void btConeTwistConstraint::calcAngleInfo2(const btTransform& transA, const btTr
 				m_twistAxis = quatRotate(qB, -twistAxis);
 
 				m_kTwist = btScalar(1.) /
-					(getRigidBodyA().computeAngularImpulseDenominator(m_twistAxis) +
-					 getRigidBodyB().computeAngularImpulseDenominator(m_twistAxis));
+					(computeAngularImpulseDenominator(m_twistAxis,invInertiaWorldA) +
+					 computeAngularImpulseDenominator(m_twistAxis,invInertiaWorldB));
 			}
 
 			if (m_solveSwingLimit)
diff --git a/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp b/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
index 7e6323402..c637231c4 100644
--- a/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
+++ b/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
@@ -461,11 +461,22 @@ void btHingeConstraint::getInfo1NonVirtual(btConstraintInfo1* info)
 
 void btHingeConstraint::getInfo2 (btConstraintInfo2* info)
 {
-	getInfo2NonVirtual(info, m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform(),m_rbA.getAngularVelocity(),m_rbB.getAngularVelocity());
+	getInfo2Internal(info, m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform(),m_rbA.getAngularVelocity(),m_rbB.getAngularVelocity());
 }
 
-void btHingeConstraint::getInfo2NonVirtual (btConstraintInfo2* info, const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB)
+
+void	btHingeConstraint::getInfo2NonVirtual (btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB)
 {
+	///the regular (virtual) implementation getInfo2 already performs 'testLimit' during getInfo1, so we need to do it now
+	testLimit(transA,transB);
+
+	getInfo2Internal(info,transA,transB,angVelA,angVelB);
+}
+
+
+void btHingeConstraint::getInfo2Internal(btConstraintInfo2* info, const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB)
+{
+
 	btAssert(!m_useSolveConstraintObsolete);
 	int i, skip = info->rowskip;
 	// transforms in world space
@@ -474,7 +485,27 @@ void btHingeConstraint::getInfo2NonVirtual (btConstraintInfo2* info, const btTra
 	// pivot point
 	btVector3 pivotAInW = trA.getOrigin();
 	btVector3 pivotBInW = trB.getOrigin();
+#if 0
+	if (0)
+	{
+		for (i=0;i<6;i++)
+		{
+			info->m_J1linearAxis[i*skip]=0;
+			info->m_J1linearAxis[i*skip+1]=0;
+			info->m_J1linearAxis[i*skip+2]=0;
 
+			info->m_J1angularAxis[i*skip]=0;
+			info->m_J1angularAxis[i*skip+1]=0;
+			info->m_J1angularAxis[i*skip+2]=0;
+
+			info->m_J2angularAxis[i*skip]=0;
+			info->m_J2angularAxis[i*skip+1]=0;
+			info->m_J2angularAxis[i*skip+2]=0;
+
+			info->m_constraintError[i*skip]=0.f;
+		}
+	}
+#endif //#if 0
 	// linear (all fixed)
     info->m_J1linearAxis[0] = 1;
     info->m_J1linearAxis[skip + 1] = 1;
@@ -483,6 +514,7 @@ void btHingeConstraint::getInfo2NonVirtual (btConstraintInfo2* info, const btTra
 
 
 
+
 	btVector3 a1 = pivotAInW - transA.getOrigin();
 	{
 		btVector3* angular0 = (btVector3*)(info->m_J1angularAxis);
diff --git a/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h b/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
index ce11d388a..270f3f85f 100644
--- a/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
+++ b/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
@@ -86,6 +86,8 @@ public:
 	virtual void getInfo2 (btConstraintInfo2* info);
 
 	void	getInfo2NonVirtual(btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB);
+
+	void	getInfo2Internal(btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB);
 		
 	virtual	void	solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar	timeStep);