diff --git a/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp b/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
index 114abce24..a0523a8c7 100644
--- a/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
+++ b/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
@@ -241,15 +241,18 @@ void	btHingeConstraint::buildJacobian()
 	m_solveLimit = false;
 	m_accLimitImpulse = btScalar(0.);
 
-	if (m_lowerLimit < m_upperLimit)
+//	if (m_lowerLimit < m_upperLimit)
+	if (m_lowerLimit <= m_upperLimit)
 	{
-		if (hingeAngle <= m_lowerLimit*m_limitSoftness)
+//		if (hingeAngle <= m_lowerLimit*m_limitSoftness)
+		if (hingeAngle <= m_lowerLimit)
 		{
 			m_correction = (m_lowerLimit - hingeAngle);
 			m_limitSign = 1.0f;
 			m_solveLimit = true;
 		} 
-		else if (hingeAngle >= m_upperLimit*m_limitSoftness)
+//		else if (hingeAngle >= m_upperLimit*m_limitSoftness)
+		else if (hingeAngle >= m_upperLimit)
 		{
 			m_correction = m_upperLimit - hingeAngle;
 			m_limitSign = -1.0f;