diff --git a/BulletDynamics/ConstraintSolver/JacobianEntry.h b/BulletDynamics/ConstraintSolver/JacobianEntry.h
index a23371747..eaf8f6388 100644
--- a/BulletDynamics/ConstraintSolver/JacobianEntry.h
+++ b/BulletDynamics/ConstraintSolver/JacobianEntry.h
@@ -42,10 +42,10 @@ public:
 		const SimdScalar massInvA,
 		const SimdVector3& inertiaInvB,
 		const SimdScalar massInvB)
-		:m_jointAxis(jointAxis)
+		:m_linearJointAxis(jointAxis)
 	{
-		m_aJ = world2A*(rel_pos1.cross(m_jointAxis));
-		m_bJ = world2B*(rel_pos2.cross(-m_jointAxis));
+		m_aJ = world2A*(rel_pos1.cross(m_linearJointAxis));
+		m_bJ = world2B*(rel_pos2.cross(-m_linearJointAxis));
 		m_0MinvJt	= inertiaInvA * m_aJ;
 		m_1MinvJt = inertiaInvB * m_bJ;
 		m_Adiag = massInvA + m_0MinvJt.dot(m_aJ) + massInvB + m_1MinvJt.dot(m_bJ);
@@ -59,7 +59,7 @@ public:
 		const SimdMatrix3x3& world2B,
 		const SimdVector3& inertiaInvA,
 		const SimdVector3& inertiaInvB)
-		:m_jointAxis(m_jointAxis)
+		:m_linearJointAxis(SimdVector3(0.f,0.f,0.f))
 	{
 		m_aJ= world2A*jointAxis;
 		m_bJ = world2B*-jointAxis;
@@ -77,10 +77,10 @@ public:
 		const SimdVector3& jointAxis,
 		const SimdVector3& inertiaInvA, 
 		const SimdScalar massInvA)
-		:m_jointAxis(jointAxis)
+		:m_linearJointAxis(jointAxis)
 	{
-		m_aJ= world2A*(rel_pos1.cross(m_jointAxis));
-		m_bJ = world2A*(rel_pos2.cross(-m_jointAxis));
+		m_aJ= world2A*(rel_pos1.cross(jointAxis));
+		m_bJ = world2A*(rel_pos2.cross(-jointAxis));
 		m_0MinvJt	= inertiaInvA * m_aJ;
 		m_1MinvJt = SimdVector3(0.f,0.f,0.f);
 		m_Adiag = massInvA + m_0MinvJt.dot(m_aJ);
@@ -94,7 +94,7 @@ public:
 	SimdScalar	getNonDiagonal(const JacobianEntry& jacB, const SimdScalar massInvA) const
 	{
 		const JacobianEntry& jacA = *this;
-		SimdScalar lin = massInvA * jacA.m_jointAxis.dot(jacB.m_jointAxis);
+		SimdScalar lin = massInvA * jacA.m_linearJointAxis.dot(jacB.m_linearJointAxis);
 		SimdScalar ang = jacA.m_0MinvJt.dot(jacB.m_aJ);
 		return lin + ang;
 	}
@@ -105,7 +105,7 @@ public:
 	SimdScalar	getNonDiagonal(const JacobianEntry& jacB,const SimdScalar massInvA,const SimdScalar massInvB) const
 	{
 		const JacobianEntry& jacA = *this;
-		SimdVector3 lin = jacA.m_jointAxis* jacB.m_jointAxis;
+		SimdVector3 lin = jacA.m_linearJointAxis * jacB.m_linearJointAxis;
 		SimdVector3 ang0 = jacA.m_0MinvJt * jacB.m_aJ;
 		SimdVector3 ang1 = jacA.m_1MinvJt * jacB.m_bJ;
 		SimdVector3 lin0 = massInvA * lin ;
@@ -119,7 +119,7 @@ public:
 		SimdVector3 linrel = linvelA - linvelB;
 		SimdVector3 angvela  = angvelA * m_aJ;
 		SimdVector3 angvelb  = angvelB * m_bJ;
-		linrel *= m_jointAxis;
+		linrel *= m_linearJointAxis;
 		angvela += angvelb;
 		angvela += linrel;
 		SimdScalar rel_vel2 = angvela[0]+angvela[1]+angvela[2];
@@ -127,7 +127,7 @@ public:
 	}
 //private:
 
-	SimdVector3	m_jointAxis;
+	SimdVector3	m_linearJointAxis;
 	SimdVector3	m_aJ;
 	SimdVector3	m_bJ;
 	SimdVector3	m_0MinvJt;