diff --git a/servers/physics/joints/cone_twist_joint_sw.cpp b/servers/physics/joints/cone_twist_joint_sw.cpp
index 9a1e34b065d..a41e2cdd524 100644
--- a/servers/physics/joints/cone_twist_joint_sw.cpp
+++ b/servers/physics/joints/cone_twist_joint_sw.cpp
@@ -111,6 +111,10 @@ ConeTwistJointSW::ConeTwistJointSW(BodySW *rbA, BodySW *rbB, const Transform &rb
 }
 
 bool ConeTwistJointSW::setup(real_t p_timestep) {
+	if ((A->get_mode() <= PhysicsServer::BODY_MODE_KINEMATIC) && (B->get_mode() <= PhysicsServer::BODY_MODE_KINEMATIC)) {
+		return false;
+	}
+
 	m_appliedImpulse = real_t(0.);
 
 	//set bias, sign, clear accumulator
diff --git a/servers/physics/joints/generic_6dof_joint_sw.cpp b/servers/physics/joints/generic_6dof_joint_sw.cpp
index 65916996cf4..0cfacc793b9 100644
--- a/servers/physics/joints/generic_6dof_joint_sw.cpp
+++ b/servers/physics/joints/generic_6dof_joint_sw.cpp
@@ -301,6 +301,9 @@ bool Generic6DOFJointSW::testAngularLimitMotor(int axis_index) {
 }
 
 bool Generic6DOFJointSW::setup(real_t p_timestep) {
+	if ((A->get_mode() <= PhysicsServer::BODY_MODE_KINEMATIC) && (B->get_mode() <= PhysicsServer::BODY_MODE_KINEMATIC)) {
+		return false;
+	}
 
 	// Clear accumulated impulses for the next simulation step
 	m_linearLimits.m_accumulatedImpulse = Vector3(real_t(0.), real_t(0.), real_t(0.));
diff --git a/servers/physics/joints/hinge_joint_sw.cpp b/servers/physics/joints/hinge_joint_sw.cpp
index a933c141e9f..842ff69b910 100644
--- a/servers/physics/joints/hinge_joint_sw.cpp
+++ b/servers/physics/joints/hinge_joint_sw.cpp
@@ -158,6 +158,9 @@ HingeJointSW::HingeJointSW(BodySW *rbA, BodySW *rbB, const Vector3 &pivotInA, co
 }
 
 bool HingeJointSW::setup(real_t p_step) {
+	if ((A->get_mode() <= PhysicsServer::BODY_MODE_KINEMATIC) && (B->get_mode() <= PhysicsServer::BODY_MODE_KINEMATIC)) {
+		return false;
+	}
 
 	m_appliedImpulse = real_t(0.);
 
diff --git a/servers/physics/joints/pin_joint_sw.cpp b/servers/physics/joints/pin_joint_sw.cpp
index 668184ef36e..fc581015fcb 100644
--- a/servers/physics/joints/pin_joint_sw.cpp
+++ b/servers/physics/joints/pin_joint_sw.cpp
@@ -50,6 +50,9 @@ subject to the following restrictions:
 #include "pin_joint_sw.h"
 
 bool PinJointSW::setup(real_t p_step) {
+	if ((A->get_mode() <= PhysicsServer::BODY_MODE_KINEMATIC) && (B->get_mode() <= PhysicsServer::BODY_MODE_KINEMATIC)) {
+		return false;
+	}
 
 	m_appliedImpulse = real_t(0.);
 
diff --git a/servers/physics/joints/slider_joint_sw.cpp b/servers/physics/joints/slider_joint_sw.cpp
index b6b36b111f9..6031c6127d6 100644
--- a/servers/physics/joints/slider_joint_sw.cpp
+++ b/servers/physics/joints/slider_joint_sw.cpp
@@ -129,6 +129,9 @@ SliderJointSW::SliderJointSW(BodySW *rbA, BodySW *rbB, const Transform &frameInA
 //-----------------------------------------------------------------------------
 
 bool SliderJointSW::setup(real_t p_step) {
+	if ((A->get_mode() <= PhysicsServer::BODY_MODE_KINEMATIC) && (B->get_mode() <= PhysicsServer::BODY_MODE_KINEMATIC)) {
+		return false;
+	}
 
 	//calculate transforms
 	m_calculatedTransformA = A->get_transform() * m_frameInA;
diff --git a/servers/physics_2d/joints_2d_sw.cpp b/servers/physics_2d/joints_2d_sw.cpp
index 6e6803e43a7..0a1a38f9a5f 100644
--- a/servers/physics_2d/joints_2d_sw.cpp
+++ b/servers/physics_2d/joints_2d_sw.cpp
@@ -90,9 +90,13 @@ normal_relative_velocity(Body2DSW *a, Body2DSW *b, Vector2 rA, Vector2 rB, Vecto
 }
 
 bool PinJoint2DSW::setup(real_t p_step) {
+	if ((A->get_mode() <= Physics2DServer::BODY_MODE_KINEMATIC) && (B->get_mode() <= Physics2DServer::BODY_MODE_KINEMATIC)) {
+		return false;
+	}
 
 	Space2DSW *space = A->get_space();
 	ERR_FAIL_COND_V(!space, false);
+
 	rA = A->get_transform().basis_xform(anchor_A);
 	rB = B ? B->get_transform().basis_xform(anchor_B) : anchor_B;
 
@@ -259,6 +263,9 @@ mult_k(const Vector2 &vr, const Vector2 &k1, const Vector2 &k2) {
 }
 
 bool GrooveJoint2DSW::setup(real_t p_step) {
+	if ((A->get_mode() <= Physics2DServer::BODY_MODE_KINEMATIC) && (B->get_mode() <= Physics2DServer::BODY_MODE_KINEMATIC)) {
+		return false;
+	}
 
 	// calculate endpoints in worldspace
 	Vector2 ta = A->get_transform().xform(A_groove_1);
@@ -353,6 +360,9 @@ GrooveJoint2DSW::~GrooveJoint2DSW() {
 //////////////////////////////////////////////
 
 bool DampedSpringJoint2DSW::setup(real_t p_step) {
+	if ((A->get_mode() <= Physics2DServer::BODY_MODE_KINEMATIC) && (B->get_mode() <= Physics2DServer::BODY_MODE_KINEMATIC)) {
+		return false;
+	}
 
 	rA = A->get_transform().basis_xform(anchor_A);
 	rB = B->get_transform().basis_xform(anchor_B);