diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3c1fdaba..960fd1c7 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -302,7 +302,7 @@ SET_TARGET_PROPERTIES(reactphysics3d  PROPERTIES
           SOVERSION "0.7" 
 )
 
-# Install target
+# Install target (install library only, not headers)
 INSTALL(TARGETS reactphysics3d
         ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
         LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
diff --git a/src/systems/SolveHingeJointSystem.cpp b/src/systems/SolveHingeJointSystem.cpp
index 7fa29a4e..9ab7e238 100644
--- a/src/systems/SolveHingeJointSystem.cpp
+++ b/src/systems/SolveHingeJointSystem.cpp
@@ -234,13 +234,13 @@ void SolveHingeJointSystem::initBeforeSolve() {
         bool oldIsLowerLimitViolated = mHingeJointComponents.mIsLowerLimitViolated[i];
         bool isLowerLimitViolated = lowerLimitError <= 0;
         mHingeJointComponents.mIsLowerLimitViolated[i] = isLowerLimitViolated;
-        if (isLowerLimitViolated != oldIsLowerLimitViolated) {
+        if (!isLowerLimitViolated || isLowerLimitViolated != oldIsLowerLimitViolated) {
             mHingeJointComponents.mImpulseLowerLimit[i] = decimal(0.0);
         }
         bool oldIsUpperLimitViolated = mHingeJointComponents.mIsUpperLimitViolated[i];
         bool isUpperLimitViolated = upperLimitError <= 0;
         mHingeJointComponents.mIsUpperLimitViolated[i] = isUpperLimitViolated;
-        if (isUpperLimitViolated != oldIsUpperLimitViolated) {
+        if (!isUpperLimitViolated || isUpperLimitViolated != oldIsUpperLimitViolated) {
             mHingeJointComponents.mImpulseUpperLimit[i] = decimal(0.0);
         }
 
diff --git a/src/systems/SolveSliderJointSystem.cpp b/src/systems/SolveSliderJointSystem.cpp
index d2c72019..f222cbcd 100644
--- a/src/systems/SolveSliderJointSystem.cpp
+++ b/src/systems/SolveSliderJointSystem.cpp
@@ -136,12 +136,12 @@ void SolveSliderJointSystem::initBeforeSolve() {
         decimal upperLimitError = mSliderJointComponents.mUpperLimit[i] - uDotSliderAxis;
         bool oldIsLowerLimitViolated = mSliderJointComponents.mIsLowerLimitViolated[i];
         mSliderJointComponents.mIsLowerLimitViolated[i] = lowerLimitError <= 0;
-        if (mSliderJointComponents.mIsLowerLimitViolated[i] != oldIsLowerLimitViolated) {
+        if (!mSliderJointComponents.mIsLowerLimitViolated[i] || mSliderJointComponents.mIsLowerLimitViolated[i] != oldIsLowerLimitViolated) {
             mSliderJointComponents.mImpulseLowerLimit[i] = decimal(0.0);
         }
         bool oldIsUpperLimitViolated = mSliderJointComponents.mIsUpperLimitViolated[i];
         mSliderJointComponents.mIsUpperLimitViolated[i] = upperLimitError <= 0;
-        if (mSliderJointComponents.mIsUpperLimitViolated[i] != oldIsUpperLimitViolated) {
+        if (!mSliderJointComponents.mIsUpperLimitViolated[i] || mSliderJointComponents.mIsUpperLimitViolated[i] != oldIsUpperLimitViolated) {
             mSliderJointComponents.mImpulseUpperLimit[i] = decimal(0.0);
         }