diff --git a/havana/havok/hk_physics/constraint/ragdoll/ragdoll_constraint.cpp b/havana/havok/hk_physics/constraint/ragdoll/ragdoll_constraint.cpp
index a42259a..5ed9076 100644
--- a/havana/havok/hk_physics/constraint/ragdoll/ragdoll_constraint.cpp
+++ b/havana/havok/hk_physics/constraint/ragdoll/ragdoll_constraint.cpp
@@ -348,8 +348,14 @@ void hk_Ragdoll_Constraint::update_friction(hk_real max_angular_impulse)
 	}
 }
 
-void hk_Ragdoll_Constraint::update_transforms(hk_Transform& os_ks_0, hk_Transform& os_ks_1)
+void hk_Ragdoll_Constraint::update_transforms(const hk_Transform& os_ks_0, const hk_Transform& os_ks_1)
 {
-	m_transform_os_ks[0] = os_ks_0;
-	m_transform_os_ks[1] = os_ks_1;
+	m_transform_os_ks[0].get_column(0) = os_ks_0.get_column(m_axisMap[0]);
+	m_transform_os_ks[1].get_column(0) = os_ks_1.get_column(m_axisMap[0]);
+
+	m_transform_os_ks[0].get_column(1) = os_ks_0.get_column(m_axisMap[2]);
+	m_transform_os_ks[1].get_column(1) = os_ks_1.get_column(m_axisMap[2]);
+
+	m_transform_os_ks[0].get_column(2) = os_ks_0.get_column(m_axisMap[1]);
+	m_transform_os_ks[1].get_column(2) = os_ks_1.get_column(m_axisMap[1]);
 }
diff --git a/havana/havok/hk_physics/constraint/ragdoll/ragdoll_constraint.h b/havana/havok/hk_physics/constraint/ragdoll/ragdoll_constraint.h
index 2784b5c..dc2822e 100644
--- a/havana/havok/hk_physics/constraint/ragdoll/ragdoll_constraint.h
+++ b/havana/havok/hk_physics/constraint/ragdoll/ragdoll_constraint.h
@@ -48,7 +48,7 @@ class hk_Ragdoll_Constraint : public hk_Constraint
 			return m_transform_os_ks[x];
 		}
 
-		void update_transforms(hk_Transform& os_ks_0, hk_Transform& os_ks_1);
+		void update_transforms(const hk_Transform& os_ks_0, const hk_Transform& os_ks_1);
 
 		void update_friction(hk_real max_angular_impulse);
 	protected:
diff --git a/havana/havok/hk_physics/constraint/ragdoll/ragdoll_constraint_bp_builder.cpp b/havana/havok/hk_physics/constraint/ragdoll/ragdoll_constraint_bp_builder.cpp
index 4c21100..99b5563 100644
--- a/havana/havok/hk_physics/constraint/ragdoll/ragdoll_constraint_bp_builder.cpp
+++ b/havana/havok/hk_physics/constraint/ragdoll/ragdoll_constraint_bp_builder.cpp
@@ -75,7 +75,15 @@ hk_result hk_Ragdoll_Constraint_BP_Builder::initialize_from_limited_ball_socket_
 			r.m_transform_os_ks[0].get_column(2) = m0.get_column( axis );
 			r.m_transform_os_ks[1].get_column(2) = m1.get_column( axis );
 
+			if( limit_diff[axis] > HK_PI && limit_diff[axis] < HK_PI*2.f )
+				limit_diff[axis] = HK_PI;
+
 			r.m_limits[ HK_LIMIT_CONE ].set_limits( -limit_diff[axis] * 0.5f, limit_diff[axis] * 0.5f);
+
+			r.m_axisMap[0] = naxis;
+			r.m_axisMap[1] = axis;
+			r.m_axisMap[2] = paxis;
+
 			break;
 		}
 		
@@ -150,15 +158,19 @@ hk_result hk_Ragdoll_Constraint_BP_Builder::initialize_from_limited_ball_socket_
 				r.m_transform_os_ks[0].get_column(0) = m0.get_column( axis_of_min_inertia );
 				r.m_transform_os_ks[1].get_column(0) = m1.get_column( axis_of_min_inertia );
 
-				r.m_transform_os_ks[0].get_column(1) = m0.get_column( u_axis );
-				r.m_transform_os_ks[1].get_column(1) = m1.get_column( u_axis );
+				r.m_transform_os_ks[0].get_column(1) = m0.get_column( l_axis );
+				r.m_transform_os_ks[1].get_column(1) = m1.get_column( l_axis );
 
-				r.m_transform_os_ks[0].get_column(2) = m0.get_column( l_axis );
-				r.m_transform_os_ks[1].get_column(2) = m1.get_column( l_axis );
+				r.m_transform_os_ks[0].get_column(2) = m0.get_column( u_axis );
+				r.m_transform_os_ks[1].get_column(2) = m1.get_column( u_axis );
 
 				r.m_limits[ HK_LIMIT_TWIST ].set_limits( bp->m_angular_limits[axis_of_min_inertia].m_min, bp->m_angular_limits[axis_of_min_inertia].m_max );
 				r.m_limits[ HK_LIMIT_CONE ]. set_limits( - limit_diff[u_axis] * 0.5f, limit_diff[u_axis] * 0.5f);
 				r.m_limits[ HK_LIMIT_PLANES].set_limits( bp->m_angular_limits[l_axis].m_min, bp->m_angular_limits[l_axis].m_max );
+
+				r.m_axisMap[0] = axis_of_min_inertia;
+				r.m_axisMap[1] = u_axis;
+				r.m_axisMap[2] = l_axis;
 			}
 			break;
 		}