diff --git a/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp b/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp
index 4593a47c7..2e14cdec2 100644
--- a/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp
+++ b/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp
@@ -860,12 +860,11 @@ int btGeneric6DofSpring2Constraint::get_limit_motor_info2(
 		// will we not request a velocity with the wrong direction ?
 		// and the answare is not, because in practice during the solving the current velocity is subtracted from the m_constraintError
 		// so the sign of the force that is really matters
-#if 0
-		info->m_constraintError[srow] = (rotational ? -1 : 1) * (f < 0 ? -SIMD_INFINITY : SIMD_INFINITY);
-#else
-		// Using infinite constraints makes the damping not work, and oscillate for ever.
-		info->m_constraintError[srow] = vel + f / m * (rotational ? -1 : 1);
-#endif
+		// BEWARE! This whole approach has shown osciliation issues that prevent proper damping.
+		if ( m_flags & BT_6DOF_FLAGS_USE_INFINITE_ERROR )
+			info->m_constraintError[srow] = (rotational ? -1 : 1) * (f < 0 ? -SIMD_INFINITY : SIMD_INFINITY);
+		else
+			info->m_constraintError[srow] = vel + f / m * (rotational ? -1 : 1);
 
 		btScalar minf = f < fd ? f : fd;
 		btScalar maxf = f < fd ? fd : f;
diff --git a/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h b/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h
index 55c1363ed..c0507a3b2 100644
--- a/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h
+++ b/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h
@@ -264,7 +264,8 @@ enum bt6DofFlags2
 	BT_6DOF_FLAGS_CFM_STOP2 = 1,
 	BT_6DOF_FLAGS_ERP_STOP2 = 2,
 	BT_6DOF_FLAGS_CFM_MOTO2 = 4,
-	BT_6DOF_FLAGS_ERP_MOTO2 = 8
+	BT_6DOF_FLAGS_ERP_MOTO2 = 8,
+	BT_6DOF_FLAGS_USE_INFINITE_ERROR = (1<<31),
 };
 #define BT_6DOF_FLAGS_AXIS_SHIFT2 4  // bits per axis