diff --git a/examples/joints/Scene.cpp b/examples/joints/Scene.cpp
index a651334d..c5c9312e 100644
--- a/examples/joints/Scene.cpp
+++ b/examples/joints/Scene.cpp
@@ -127,7 +127,7 @@ void Scene::simulate() {
     if (mIsRunning) {
 
         // Update the motor speed of the Slider Joint (to move up and down)
-        long double motorSpeed = 3 * cos(mDynamicsWorld->getPhysicsTime() * 1.5);
+        long double motorSpeed = 2 * cos(mDynamicsWorld->getPhysicsTime() * 1.5);
         mSliderJoint->setMotorSpeed(rp3d::decimal(motorSpeed));
 
         // Take a simulation step
diff --git a/src/constraint/HingeJoint.cpp b/src/constraint/HingeJoint.cpp
index 9e6a132c..9e84b2bc 100644
--- a/src/constraint/HingeJoint.cpp
+++ b/src/constraint/HingeJoint.cpp
@@ -194,9 +194,10 @@ void HingeJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDat
         mImpulseMotor = 0.0;
     }
 
-    if (mIsLimitEnabled && (mIsLowerLimitViolated || mIsUpperLimitViolated)) {
+    // If the motor or limits are enabled
+    if (mIsMotorEnabled || (mIsLimitEnabled && (mIsLowerLimitViolated || mIsUpperLimitViolated))) {
 
-        // Compute the inverse of the mass matrix K=JM^-1J^t for the limits (1x1 matrix)
+        // Compute the inverse of the mass matrix K=JM^-1J^t for the limits and motor (1x1 matrix)
         mInverseMassMatrixLimitMotor = 0.0;
         if (mBody1->isMotionEnabled()) {
             mInverseMassMatrixLimitMotor += mA1.dot(mI1 * mA1);
@@ -207,16 +208,19 @@ void HingeJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDat
         mInverseMassMatrixLimitMotor = (mInverseMassMatrixLimitMotor > 0.0) ?
                                   decimal(1.0) / mInverseMassMatrixLimitMotor : decimal(0.0);
 
-        // Compute the bias "b" of the lower limit constraint
-        mBLowerLimit = 0.0;
-        if (mPositionCorrectionTechnique == BAUMGARTE_JOINTS) {
-            mBLowerLimit = biasFactor * lowerLimitError;
-        }
+        if (mIsLimitEnabled) {
 
-        // Compute the bias "b" of the upper limit constraint
-        mBUpperLimit = 0.0;
-        if (mPositionCorrectionTechnique == BAUMGARTE_JOINTS) {
-            mBUpperLimit = biasFactor * upperLimitError;
+            // Compute the bias "b" of the lower limit constraint
+            mBLowerLimit = 0.0;
+            if (mPositionCorrectionTechnique == BAUMGARTE_JOINTS) {
+                mBLowerLimit = biasFactor * lowerLimitError;
+            }
+
+            // Compute the bias "b" of the upper limit constraint
+            mBUpperLimit = 0.0;
+            if (mPositionCorrectionTechnique == BAUMGARTE_JOINTS) {
+                mBUpperLimit = biasFactor * upperLimitError;
+            }
         }
     }
 }
@@ -423,6 +427,7 @@ void HingeJoint::solveVelocityConstraint(const ConstraintSolverData& constraintS
 
     // --------------- Motor --------------- //
 
+    // If the motor is enabled
     if (mIsMotorEnabled) {
 
         // Compute J*v for the motor
diff --git a/src/constraint/SliderJoint.cpp b/src/constraint/SliderJoint.cpp
index 9a3cdf97..4a9764fc 100644
--- a/src/constraint/SliderJoint.cpp
+++ b/src/constraint/SliderJoint.cpp
@@ -184,6 +184,7 @@ void SliderJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDa
         mBRotation = biasFactor * decimal(2.0) * qError.getVectorV();
     }
 
+    // If the limits are enabled
     if (mIsLimitEnabled && (mIsLowerLimitViolated || mIsUpperLimitViolated)) {
 
         // Compute the inverse of the mass matrix K=JM^-1J^t for the limits (1x1 matrix)
@@ -212,16 +213,20 @@ void SliderJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDa
         }
     }
 
-    // Compute the inverse of mass matrix K=JM^-1J^t for the motor (1x1 matrix)
-    mInverseMassMatrixMotor = 0.0;
-    if (mBody1->isMotionEnabled()) {
-        mInverseMassMatrixMotor += mBody1->getMassInverse();
+    // If the motor is enabled
+    if (mIsMotorEnabled) {
+
+        // Compute the inverse of mass matrix K=JM^-1J^t for the motor (1x1 matrix)
+        mInverseMassMatrixMotor = 0.0;
+        if (mBody1->isMotionEnabled()) {
+            mInverseMassMatrixMotor += mBody1->getMassInverse();
+        }
+        if (mBody2->isMotionEnabled()) {
+            mInverseMassMatrixMotor += mBody2->getMassInverse();
+        }
+        mInverseMassMatrixMotor = (mInverseMassMatrixMotor > 0.0) ?
+                    decimal(1.0) / mInverseMassMatrixMotor : decimal(0.0);
     }
-    if (mBody2->isMotionEnabled()) {
-        mInverseMassMatrixMotor += mBody2->getMassInverse();
-    }
-    mInverseMassMatrixMotor = (mInverseMassMatrixMotor > 0.0) ?
-                              decimal(1.0) / mInverseMassMatrixMotor : decimal(0.0);
 
     // If warm-starting is not enabled
     if (!constraintSolverData.isWarmStartingActive) {
diff --git a/src/engine/Profiler.cpp b/src/engine/Profiler.cpp
index 2759976a..ad86b557 100644
--- a/src/engine/Profiler.cpp
+++ b/src/engine/Profiler.cpp
@@ -232,7 +232,7 @@ void Profiler::printRecursiveNodeReport(ProfileNodeIterator* iterator,
                                (currentTotalTime / parentTime) * 100.0 : 0.0;
         for (int j=0; j<spacing; j++) outputStream << " ";
         outputStream << "|   " << i << " -- " << iterator->getCurrentName() << " : " <<
-                        fraction << " % | " << (currentTotalTime / long double(nbFrames)) <<
+                        fraction << " % | " << (currentTotalTime / (long double) (nbFrames)) <<
                         " ms/frame (" << iterator->getCurrentNbTotalCalls() << " calls)" <<
                         std::endl;
         totalTime += currentTotalTime;