diff --git a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
index 1557987bc..faaa211f6 100644
--- a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
+++ b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
@@ -717,6 +717,7 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
 				m_scratch_v.resize(bod->getNumLinks() + 1);
 				m_scratch_m.resize(bod->getNumLinks() + 1);
 
+				if (bod->internalNeedsJointFeedback())
 				{
 					if (!bod->isUsingRK4Integration())
 					{