diff --git a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
index 373357fe5..74f4242c7 100644
--- a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
+++ b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
@@ -1342,9 +1342,12 @@ void btDiscreteDynamicsWorld::debugDrawConstraint(btTypedConstraint* constraint)
 					btVector3 axis = tr.getBasis().getColumn(0);
 					btScalar minTh = p6DOF->getRotationalLimitMotor(1)->m_loLimit;
 					btScalar maxTh = p6DOF->getRotationalLimitMotor(1)->m_hiLimit;
-					btScalar minPs = p6DOF->getRotationalLimitMotor(2)->m_loLimit;
-					btScalar maxPs = p6DOF->getRotationalLimitMotor(2)->m_hiLimit;
-					getDebugDrawer()->drawSpherePatch(center, up, axis, dbgDrawSize * btScalar(.9f), minTh, maxTh, minPs, maxPs, btVector3(0, 0, 0));
+					if (minTh <= maxTh)
+					{
+						btScalar minPs = p6DOF->getRotationalLimitMotor(2)->m_loLimit;
+						btScalar maxPs = p6DOF->getRotationalLimitMotor(2)->m_hiLimit;
+						getDebugDrawer()->drawSpherePatch(center, up, axis, dbgDrawSize * btScalar(.9f), minTh, maxTh, minPs, maxPs, btVector3(0, 0, 0));
+					}
 					axis = tr.getBasis().getColumn(1);
 					btScalar ay = p6DOF->getAngle(1);
 					btScalar az = p6DOF->getAngle(2);
diff --git a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
index 2c57c9d65..a2be068ed 100644
--- a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
+++ b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
@@ -826,21 +826,24 @@ void	btMultiBodyDynamicsWorld::debugDrawWorld()
 			{
 				btMultiBody* bod = m_multiBodies[b];
 				bod->forwardKinematics(m_scratch_world_to_local1,m_scratch_local_origin1);
-				
-				getDebugDrawer()->drawTransform(bod->getBaseWorldTransform(), 0.1);
-
+		
+				if (mode  & btIDebugDraw::DBG_DrawFrames)
+				{
+					getDebugDrawer()->drawTransform(bod->getBaseWorldTransform(), 0.1);
+				}
 
 				for (int m = 0; m<bod->getNumLinks(); m++)
 				{
 					
 					const btTransform& tr = bod->getLink(m).m_cachedWorldTransform;
-
-					getDebugDrawer()->drawTransform(tr, 0.1);
-
+					if (mode  & btIDebugDraw::DBG_DrawFrames)
+					{
+						getDebugDrawer()->drawTransform(tr, 0.1);
+					}
 						//draw the joint axis
 					if (bod->getLink(m).m_jointType==btMultibodyLink::eRevolute)
 					{
-						btVector3 vec = quatRotate(tr.getRotation(),bod->getLink(m).m_axes[0].m_topVec);
+						btVector3 vec = quatRotate(tr.getRotation(),bod->getLink(m).m_axes[0].m_topVec)*0.1;
 					
 						btVector4 color(0,0,0,1);//1,1,1);
 						btVector3 from = vec+tr.getOrigin()-quatRotate(tr.getRotation(),bod->getLink(m).m_dVector);
@@ -849,7 +852,7 @@ void	btMultiBodyDynamicsWorld::debugDrawWorld()
 					}
 					if (bod->getLink(m).m_jointType==btMultibodyLink::eFixed)
 					{
-						btVector3 vec = quatRotate(tr.getRotation(),bod->getLink(m).m_axes[0].m_bottomVec);
+						btVector3 vec = quatRotate(tr.getRotation(),bod->getLink(m).m_axes[0].m_bottomVec)*0.1;
 					
 						btVector4 color(0,0,0,1);//1,1,1);
 						btVector3 from = vec+tr.getOrigin()-quatRotate(tr.getRotation(),bod->getLink(m).m_dVector);
@@ -858,7 +861,7 @@ void	btMultiBodyDynamicsWorld::debugDrawWorld()
 					}
 					if (bod->getLink(m).m_jointType==btMultibodyLink::ePrismatic)
 					{
-						btVector3 vec = quatRotate(tr.getRotation(),bod->getLink(m).m_axes[0].m_bottomVec);
+						btVector3 vec = quatRotate(tr.getRotation(),bod->getLink(m).m_axes[0].m_bottomVec)*0.1;
 					
 						btVector4 color(0,0,0,1);//1,1,1);
 						btVector3 from = vec+tr.getOrigin()-quatRotate(tr.getRotation(),bod->getLink(m).m_dVector);
diff --git a/src/BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp b/src/BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp
index 5fdb7007d..b54a228ba 100644
--- a/src/BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp
+++ b/src/BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp
@@ -134,6 +134,10 @@ void btMultiBodyGearConstraint::createConstraintRows(btMultiBodyConstraintArray&
 		if (m_erp!=0)
 		{
 			btScalar currentPositionA = m_bodyA->getJointPosMultiDof(m_linkA)[dof];
+			if (m_gearAuxLink >= 0)
+			{
+				currentPositionA -= m_bodyA->getJointPosMultiDof(m_gearAuxLink)[dof];
+			}
 			btScalar currentPositionB = m_gearRatio*m_bodyA->getJointPosMultiDof(m_linkB)[dof];
 			btScalar diff = currentPositionB+currentPositionA;
 			btScalar desiredPositionDiff = this->m_relativePositionTarget;
diff --git a/src/BulletSoftBody/btSoftMultiBodyDynamicsWorld.cpp b/src/BulletSoftBody/btSoftMultiBodyDynamicsWorld.cpp
index f5658c098..6facce4e8 100644
--- a/src/BulletSoftBody/btSoftMultiBodyDynamicsWorld.cpp
+++ b/src/BulletSoftBody/btSoftMultiBodyDynamicsWorld.cpp
@@ -157,7 +157,7 @@ void	btSoftMultiBodyDynamicsWorld::removeCollisionObject(btCollisionObject* coll
 
 void	btSoftMultiBodyDynamicsWorld::debugDrawWorld()
 {
-	btDiscreteDynamicsWorld::debugDrawWorld();
+	btMultiBodyDynamicsWorld::debugDrawWorld();
 
 	if (getDebugDrawer())
 	{