3 files changed, 5 insertions, 18 deletions
diff --git a/servers/physics/body_sw.cpp b/servers/physics/body_sw.cpp
index 46a5192e52..6ced004118 100644
--- a/servers/physics/body_sw.cpp
+++ b/servers/physics/body_sw.cpp
@@ -45,8 +45,9 @@ void BodySW::_update_transform_dependant() {
 	// update inertia tensor
 	Basis tb = principal_inertia_axes;
 	Basis tbt = tb.transposed();
-	tb.scale(_inv_inertia);
-	_inv_inertia_tensor = tb * tbt;
+	Basis diag;
+	diag.scale(_inv_inertia);
+	_inv_inertia_tensor = tb * diag * tbt;
 }
 
 void BodySW::update_inertias() {
diff --git a/servers/physics/joints/generic_6dof_joint_sw.cpp b/servers/physics/joints/generic_6dof_joint_sw.cpp
index 70cc549e2d..1e323be36c 100644
--- a/servers/physics/joints/generic_6dof_joint_sw.cpp
+++ b/servers/physics/joints/generic_6dof_joint_sw.cpp
@@ -219,9 +219,9 @@ Generic6DOFJointSW::Generic6DOFJointSW(BodySW *rbA, BodySW *rbB, const Transform
 }
 
 void Generic6DOFJointSW::calculateAngleInfo() {
-	Basis relative_frame = m_calculatedTransformA.basis.inverse() * m_calculatedTransformB.basis;
+	Basis relative_frame = m_calculatedTransformB.basis.inverse() * m_calculatedTransformA.basis;
 
-	m_calculatedAxisAngleDiff = relative_frame.get_euler();
+	m_calculatedAxisAngleDiff = relative_frame.get_euler_xyz();
 
 	// in euler angle mode we do not actually constrain the angular velocity
 	// along the axes axis[0] and axis[2] (although we do use axis[1]) :
diff --git a/servers/physics/physics_server_sw.cpp b/servers/physics/physics_server_sw.cpp
index a7c31cf16c..5ba935d47c 100644
--- a/servers/physics/physics_server_sw.cpp
+++ b/servers/physics/physics_server_sw.cpp
@@ -233,14 +233,7 @@ void PhysicsServerSW::area_set_space(RID p_area, RID p_space) {
 	if (area->get_space() == space)
 		return; //pointless
 
-	for (Set<ConstraintSW *>::Element *E = area->get_constraints().front(); E; E = E->next()) {
-		RID self = E->get()->get_self();
-		if (!self.is_valid())
-			continue;
-		free(self);
-	}
 	area->clear_constraints();
-
 	area->set_space(space);
 };
 
@@ -494,14 +487,7 @@ void PhysicsServerSW::body_set_space(RID p_body, RID p_space) {
 	if (body->get_space() == space)
 		return; //pointless
 
-	for (Map<ConstraintSW *, int>::Element *E = body->get_constraint_map().front(); E; E = E->next()) {
-		RID self = E->key()->get_self();
-		if (!self.is_valid())
-			continue;
-		free(self);
-	}
 	body->clear_constraint_map();
-
 	body->set_space(space);
 };