diff --git a/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp b/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
index 2d95321dc..58065b00d 100644
--- a/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
+++ b/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
@@ -22,9 +22,11 @@ http://gimpact.sf.net
 #include "btGeneric6DofConstraint.h"
 #include "BulletDynamics/Dynamics/btRigidBody.h"
 #include "LinearMath/btTransformUtil.h"
+#include "LinearMath/btTransformUtil.h"
 #include <new>
 
 
+
 #define D6_USE_OBSOLETE_METHOD false
 
 
@@ -661,10 +663,15 @@ btVector3 btGeneric6DofConstraint::getAxis(int axis_index) const
 }
 
 
-
-btScalar btGeneric6DofConstraint::getAngle(int axis_index) const
+btScalar	btGeneric6DofConstraint::getRelativePivotPosition(int axisIndex) const
 {
-	return m_calculatedAxisAngleDiff[axis_index];
+	return m_calculatedLinearDiff[axisIndex];
+}
+
+
+btScalar btGeneric6DofConstraint::getAngle(int axisIndex) const
+{
+	return m_calculatedAxisAngleDiff[axisIndex];
 }
 
 
@@ -724,7 +731,7 @@ int btGeneric6DofConstraint::get_limit_motor_info2(
             J2[srow+1] = -ax1[1];
             J2[srow+2] = -ax1[2];
         }
-        if((!rotational) && limit)
+        if((!rotational))
         {
 			btVector3 ltd;	// Linear Torque Decoupling vector
 			btVector3 c = m_calculatedTransformB.getOrigin() - body0->getCenterOfMassPosition();
@@ -749,6 +756,7 @@ int btGeneric6DofConstraint::get_limit_motor_info2(
             if(!limit)
             {
 				btScalar tag_vel = rotational ? limot->m_targetVelocity : -limot->m_targetVelocity;
+
 				btScalar mot_fact = getMotorFactor(	limot->m_currentPosition, 
 													limot->m_loLimit,
 													limot->m_hiLimit, 
diff --git a/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h b/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
index b8279da5a..29b85eed1 100644
--- a/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
+++ b/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
@@ -382,14 +382,21 @@ public:
 
     //! Get the relative Euler angle
     /*!
-	\pre btGeneric6DofConstraint.buildJacobian must be called previously.
+	\pre btGeneric6DofConstraint::calculateTransforms() must be called previously.
 	*/
     btScalar getAngle(int axis_index) const;
 
+	//! Get the relative position of the constraint pivot
+    /*!
+	\pre btGeneric6DofConstraint::calculateTransforms() must be called previously.
+	*/
+	btScalar getRelativePivotPosition(int axis_index) const;
+
+
 	//! Test angular limit.
 	/*!
 	Calculates angular correction and returns true if limit needs to be corrected.
-	\pre btGeneric6DofConstraint.buildJacobian must be called previously.
+	\pre btGeneric6DofConstraint::calculateTransforms() must be called previously.
 	*/
     bool testAngularLimitMotor(int axis_index);