diff --git a/src/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp b/src/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp
index 707817673..6d173b66a 100644
--- a/src/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp
+++ b/src/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp
@@ -110,7 +110,13 @@ void btMultiBodyJointLimitConstraint::createConstraintRows(btMultiBodyConstraint
 	
 	for (int row=0;row<getNumRows();row++)
 	{
-		
+		btScalar penetration = getPosition(row);
+
+		//todo: consider adding some safety threshold here
+		if (penetration>0)
+		{
+			continue;
+		}
 		btScalar direction = row? -1 : 1;
 
 		btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();
@@ -158,7 +164,7 @@ void btMultiBodyJointLimitConstraint::createConstraintRows(btMultiBodyConstraint
 		}
 
 		{
-			btScalar penetration = getPosition(row);
+			
 			btScalar positionalError = 0.f;
 			btScalar	velocityError =  - rel_vel;// * damping;
 			btScalar erp = infoGlobal.m_erp2;
diff --git a/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp b/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp
index 573c4960b..5ec9f43f0 100644
--- a/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp
+++ b/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp
@@ -117,6 +117,9 @@ void btMultiBodyJointMotor::createConstraintRows(btMultiBodyConstraintArray& con
 	if (m_numDofsFinalized != m_jacSizeBoth)
 		return;
 
+	if (m_maxAppliedImpulse==0.f)
+		return;
+
 	const btScalar posError = 0;
 	const btVector3 dummy(0, 0, 0);