diff --git a/BulletDynamics/ConstraintSolver/Generic6DofConstraint.cpp b/BulletDynamics/ConstraintSolver/Generic6DofConstraint.cpp
index 5bf88e2d5..65a5caeb3 100644
--- a/BulletDynamics/ConstraintSolver/Generic6DofConstraint.cpp
+++ b/BulletDynamics/ConstraintSolver/Generic6DofConstraint.cpp
@@ -63,7 +63,7 @@ void Generic6DofConstraint::BuildJacobian()
 	for (int i=0;i<3;i++)
 	{
 		SimdVector3 axisInA = m_frameInA.getBasis().getColumn(i);
-		SimdVector3 axisInB = m_frameInA.getBasis().getColumn(i);
+		SimdVector3 axisInB = m_frameInB.getBasis().getColumn(i);
 
 		new (&m_jacAng[i])	JacobianEntry(axisInA, axisInB,
 			m_rbA.getInvInertiaDiagLocal(),
@@ -73,7 +73,7 @@ void Generic6DofConstraint::BuildJacobian()
 
 void	Generic6DofConstraint::SolveConstraint(SimdScalar	timeStep)
 {
-	SimdScalar tau = 0.3f;
+	SimdScalar tau = 0.0f;
 	SimdScalar damping = 1.0f;
 
 	SimdVector3 pivotAInW = m_rbA.getCenterOfMassTransform() * m_frameInA.getOrigin();
@@ -82,14 +82,23 @@ void	Generic6DofConstraint::SolveConstraint(SimdScalar	timeStep)
 	SimdVector3 rel_pos1 = pivotAInW - m_rbA.getCenterOfMassPosition(); 
 	SimdVector3 rel_pos2 = pivotBInW - m_rbB.getCenterOfMassPosition();
 
-	SimdVector3 angvelA = m_rbA.getCenterOfMassTransform().getBasis().transpose() * m_rbA.getAngularVelocity();
-    SimdVector3 angvelB = m_rbB.getCenterOfMassTransform().getBasis().transpose() * m_rbB.getAngularVelocity();
+//#define JACOBIAN_STYLE
 
+#ifdef JACOBIAN_STYLE
+	SimdVector3 angvelA = m_rbA.getCenterOfMassTransform().getBasis().transpose() * m_rbA.getAngularVelocity();
+	SimdVector3 angvelB = m_rbB.getCenterOfMassTransform().getBasis().transpose() * m_rbB.getAngularVelocity();
+#endif
+	
 	SimdVector3 normal(0,0,0);
 
 	// linear
 	for (int i=0;i<3;i++)
 	{		
+	#ifndef JACOBIAN_STYLE
+		SimdVector3 angvelA = m_rbA.getCenterOfMassTransform().getBasis().transpose() * m_rbA.getAngularVelocity();
+		SimdVector3 angvelB = m_rbB.getCenterOfMassTransform().getBasis().transpose() * m_rbB.getAngularVelocity();
+	#endif
+
 		normal[i] = 1;
 		SimdScalar jacDiagABInv = 1.f / m_jac[i].getDiagonal();
 
@@ -112,6 +121,11 @@ void	Generic6DofConstraint::SolveConstraint(SimdScalar	timeStep)
 	// angular
 	for (int i=0;i<3;i++)
 	{
+	#ifndef JACOBIAN_STYLE
+		SimdVector3 angvelA = m_rbA.getCenterOfMassTransform().getBasis().transpose() * m_rbA.getAngularVelocity();
+		SimdVector3 angvelB = m_rbB.getCenterOfMassTransform().getBasis().transpose() * m_rbB.getAngularVelocity();
+	#endif
+
 		SimdScalar jacDiagABInv = 1.f / m_jacAng[i].getDiagonal();
 		
 		//velocity error (first order error)
@@ -128,8 +142,8 @@ void	Generic6DofConstraint::SolveConstraint(SimdScalar	timeStep)
 		SimdScalar impulse = (tau*rel_pos/timeStep - damping*rel_vel) * jacDiagABInv;
 		SimdVector3 impulse_vector = axisA * impulse;
 
-		//m_rbA.applyTorqueImpulse( impulse_vector);
-		//m_rbB.applyTorqueImpulse(-impulse_vector);
+		m_rbA.applyTorqueImpulse( impulse_vector);
+		m_rbB.applyTorqueImpulse(-impulse_vector);
 	}
 }
 
diff --git a/BulletDynamics/ConstraintSolver/JacobianEntry.h b/BulletDynamics/ConstraintSolver/JacobianEntry.h
index 02d5f2240..d2fd982aa 100644
--- a/BulletDynamics/ConstraintSolver/JacobianEntry.h
+++ b/BulletDynamics/ConstraintSolver/JacobianEntry.h
@@ -77,7 +77,7 @@ public:
 		const SimdVector3& inertiaInvB)
 		: m_linearJointAxis(SimdVector3(0.f,0.f,0.f))
 		, m_aJ(axisInA)
-		, m_bJ(axisInB)
+		, m_bJ(-axisInB)
 	{
 		m_0MinvJt	= inertiaInvA * m_aJ;
 		m_1MinvJt = inertiaInvB * m_bJ;
diff --git a/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp b/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp
index b44808fa0..879ba72a3 100644
--- a/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp
+++ b/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp
@@ -1156,8 +1156,8 @@ int			CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl
 	SimdVector3 pivotInB = rb1 ? rb1->getCenterOfMassTransform().inverse()(rb0->getCenterOfMassTransform()(pivotInA)) : pivotInA;
 	SimdVector3 axisInA(axisX,axisY,axisZ);
 	SimdVector3 axisInB = rb1 ? 
-		(rb1->getCenterOfMassTransform().getBasis().inverse()*(rb0->getCenterOfMassTransform().getBasis() * -axisInA)) : 
-	rb0->getCenterOfMassTransform().getBasis() * -axisInA;
+		(rb1->getCenterOfMassTransform().getBasis().inverse()*(rb0->getCenterOfMassTransform().getBasis() * axisInA)) : 
+	rb0->getCenterOfMassTransform().getBasis() * axisInA;
 
 	bool angularOnly = false;
 
@@ -1195,9 +1195,19 @@ int			CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl
 			{
 				SimdTransform frameInA;
 				SimdTransform frameInB;
+				
+				SimdVector3 axis1, axis2;
+				SimdPlaneSpace1( axisInA, axis1, axis2 );
 
-				frameInA.setIdentity();
-				frameInB.setIdentity();
+				frameInA.getBasis().setValue( axisInA.x(), axis1.x(), axis2.x(),
+					                          axisInA.y(), axis1.y(), axis2.y(),
+											  axisInA.z(), axis1.z(), axis2.z() );
+
+	
+				SimdPlaneSpace1( axisInB, axis1, axis2 );
+				frameInB.getBasis().setValue( axisInB.x(), axis1.x(), axis2.x(),
+					                          axisInB.y(), axis1.y(), axis2.y(),
+											  axisInB.z(), axis1.z(), axis2.z() );
 
 				frameInA.setOrigin( pivotInA );
 				frameInB.setOrigin( pivotInB );