diff --git a/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp b/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp
index 5cd0291ad..37e812d6a 100755
--- a/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp
+++ b/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp
@@ -68,7 +68,7 @@ void btSliderConstraint::initParams()
     m_maxAngMotorForce = btScalar(0.);
 	m_accumulatedAngMotorImpulse = btScalar(0.0);
 
-	m_useLinearReferenceFrameA = USE_OFFSET_FOR_CONSTANT_FRAME;
+	m_flags = 0;
 	m_flags = 0;
 
 	calculateTransforms(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
@@ -82,18 +82,19 @@ btSliderConstraint::btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const
         : btTypedConstraint(SLIDER_CONSTRAINT_TYPE, rbA, rbB),
 		m_useSolveConstraintObsolete(false),
 		m_frameInA(frameInA),
-        m_frameInB(frameInB)
+        m_frameInB(frameInB),
+		m_useLinearReferenceFrameA(useLinearReferenceFrameA)
 {
 	initParams();
 }
 
 
 
-btSliderConstraint::btSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB)
+btSliderConstraint::btSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameA)
         : btTypedConstraint(SLIDER_CONSTRAINT_TYPE, getFixedBody(), rbB),
 		m_useSolveConstraintObsolete(false),
 		m_frameInB(frameInB),
-		m_useLinearReferenceFrameA(useLinearReferenceFrameB)
+		m_useLinearReferenceFrameA(useLinearReferenceFrameA)
 {
 	///not providing rigidbody A means implicitly using worldspace for body A
 	m_frameInA = rbB.getCenterOfMassTransform() * m_frameInB;
diff --git a/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h b/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h
index 9de7aa211..aad7b83d5 100755
--- a/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h
+++ b/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h
@@ -157,7 +157,7 @@ protected:
 public:
 	// constructors
     btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
-    btSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB);
+    btSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameA);
 
 	// overrides
     virtual void	buildJacobian();
diff --git a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
index 093a81c81..54f16c8bb 100644
--- a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
+++ b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
@@ -1025,7 +1025,7 @@ void btDiscreteDynamicsWorld::debugDrawConstraint(btTypedConstraint* constraint)
 				if(drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
 				if(drawLimits)
 				{
-					btTransform tr = pSlider->getCalculatedTransformA();
+					btTransform tr = pSlider->getUseLinearReferenceFrameA() ? pSlider->getCalculatedTransformA() : pSlider->getCalculatedTransformB();
 					btVector3 li_min = tr * btVector3(pSlider->getLowerLinLimit(), 0.f, 0.f);
 					btVector3 li_max = tr * btVector3(pSlider->getUpperLinLimit(), 0.f, 0.f);
 					getDebugDrawer()->drawLine(li_min, li_max, btVector3(0, 0, 0));