diff --git a/jme3-bullet-native/src/native/cpp/com_jme3_bullet_joints_SixDofJoint.cpp b/jme3-bullet-native/src/native/cpp/com_jme3_bullet_joints_SixDofJoint.cpp
index ea55820e0..24a26c0cf 100644
--- a/jme3-bullet-native/src/native/cpp/com_jme3_bullet_joints_SixDofJoint.cpp
+++ b/jme3-bullet-native/src/native/cpp/com_jme3_bullet_joints_SixDofJoint.cpp
@@ -165,6 +165,30 @@ extern "C" {
         btGeneric6DofConstraint* joint = new btGeneric6DofConstraint(*bodyA, *bodyB, transA, transB, useLinearReferenceFrameA);
         return reinterpret_cast<jlong>(joint);
     }
+
+    /*
+     * Class:     com_jme3_bullet_joints_SixDofJoint
+     * Method:    getAngles
+     * Signature: (JLcom/jme3/math/Vector3f;)V
+     */
+    JNIEXPORT void JNICALL Java_com_jme3_bullet_joints_SixDofJoint_getAngles
+    (JNIEnv *env, jobject object, jlong jointId, jobject storeVector) {
+        btGeneric6DofConstraint *pJoint
+                = reinterpret_cast<btGeneric6DofConstraint *> (jointId);
+        if (pJoint == NULL) {
+            jclass newExc = env->FindClass("java/lang/NullPointerException");
+            env->ThrowNew(newExc, "The native object does not exist.");
+            return;
+        }
+
+        pJoint->calculateTransforms();
+        btScalar x = pJoint->getAngle(0);
+        btScalar y = pJoint->getAngle(1);
+        btScalar z = pJoint->getAngle(2);
+        const btVector3& angles = btVector3(x, y, z);
+        jmeBulletUtil::convert(env, &angles, storeVector);
+    }
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/jme3-bullet/src/main/java/com/jme3/bullet/joints/SixDofJoint.java b/jme3-bullet/src/main/java/com/jme3/bullet/joints/SixDofJoint.java
index 74ab70cbc..27e4c48b9 100644
--- a/jme3-bullet/src/main/java/com/jme3/bullet/joints/SixDofJoint.java
+++ b/jme3-bullet/src/main/java/com/jme3/bullet/joints/SixDofJoint.java
@@ -166,6 +166,24 @@ public class SixDofJoint extends PhysicsJoint {
         translationalMotor = new TranslationalLimitMotor(getTranslationalLimitMotor(objectId));
     }
 
+    native private void getAngles(long jointId, Vector3f storeVector);
+
+    /**
+     * Copy the joint's rotation angles.
+     *
+     * @param storeResult storage for the result (modified if not null)
+     * @return the rotation angle for each local axis (in radians, either
+     * storeResult or a new vector, not null)
+     */
+    public Vector3f getAngles(Vector3f storeResult) {
+        Vector3f result = (storeResult == null) ? new Vector3f() : storeResult;
+
+        long constraintId = getObjectId();
+        getAngles(constraintId, result);
+
+        return result;
+    }
+
     private native long getRotationalLimitMotor(long objectId, int index);
 
     private native long getTranslationalLimitMotor(long objectId);