diff --git a/packages/core/src/physics/joint/HingeJoint.ts b/packages/core/src/physics/joint/HingeJoint.ts
index 31054b52f1..99fe911bb6 100644
--- a/packages/core/src/physics/joint/HingeJoint.ts
+++ b/packages/core/src/physics/joint/HingeJoint.ts
@@ -25,7 +25,7 @@ export class HingeJoint extends Joint {
   private _velocity = 0;
 
   /**
-   * The anchor rotation.
+   * The Direction of the axis around which the hingeJoint.
    */
   get axis(): Vector3 {
     return this._axis;
@@ -35,7 +35,6 @@ export class HingeJoint extends Joint {
     const axis = this._axis;
     if (value !== axis) {
       axis.copyFrom(value);
-      (<IHingeJoint>this._nativeJoint)?.setAxis(axis);
     }
   }
 
@@ -143,6 +142,9 @@ export class HingeJoint extends Joint {
     super(entity);
     this._onMotorChanged = this._onMotorChanged.bind(this);
     this._onLimitsChanged = this._onLimitsChanged.bind(this);
+    this._onAxisChanged = this._onAxisChanged.bind(this);
+    //@ts-ignore
+    this._axis._onValueChanged = this._onAxisChanged;
   }
 
   /**
@@ -197,4 +199,14 @@ export class HingeJoint extends Joint {
       }
     }
   }
+
+  @ignoreClone
+  private _onAxisChanged(): void {
+    //@ts-ignore
+    this._axis._onValueChanged = null;
+    this._axis.normalize();
+    (<IHingeJoint>this._nativeJoint)?.setAxis(this._axis);
+    //@ts-ignore
+    this._axis._onValueChanged = this._onAxisChanged;
+  }
 }
diff --git a/packages/core/src/physics/joint/Joint.ts b/packages/core/src/physics/joint/Joint.ts
index fbc9c3f4f7..ae7d90b866 100644
--- a/packages/core/src/physics/joint/Joint.ts
+++ b/packages/core/src/physics/joint/Joint.ts
@@ -25,8 +25,6 @@ export abstract class Joint extends Component {
   private _force = Infinity;
   private _torque = Infinity;
   private _automaticConnectedAnchor = true;
-  @ignoreClone
-  private _updateConnectedActualAnchor: Function;
 
   /**
    * The connected collider.
@@ -72,26 +70,13 @@ export abstract class Joint extends Component {
    * The connectedAnchor is automatically calculated, if you want to set it manually, please set automaticConnectedAnchor to false
    */
   get connectedAnchor(): Vector3 {
-    const connectedColliderAnchor = this._connectedColliderInfo.anchor;
-    if (this._automaticConnectedAnchor) {
-      //@ts-ignore
-      connectedColliderAnchor._onValueChanged = null;
-      this._calculateConnectedAnchor();
-      //@ts-ignore
-      connectedColliderAnchor._onValueChanged = this._updateConnectedActualAnchor;
-    }
-    return connectedColliderAnchor;
+    return this._connectedColliderInfo.anchor;
   }
 
   set connectedAnchor(value: Vector3) {
-    if (this._automaticConnectedAnchor) {
-      console.warn("Cannot set connectedAnchor when automaticConnectedAnchor is true.");
-      return;
-    }
     const connectedAnchor = this._connectedColliderInfo.anchor;
     if (value !== connectedAnchor) {
       connectedAnchor.copyFrom(value);
-      this._updateActualAnchor(AnchorOwner.Connected);
     }
   }
 
@@ -195,9 +180,9 @@ export abstract class Joint extends Component {
     super(entity);
     //@ts-ignore
     this._colliderInfo.anchor._onValueChanged = this._updateActualAnchor.bind(this, AnchorOwner.Self);
-    this._updateConnectedActualAnchor = this._updateActualAnchor.bind(this, AnchorOwner.Connected);
+    this._handleConnectedAnchorChanged = this._handleConnectedAnchorChanged.bind(this);
     //@ts-ignore
-    this._connectedColliderInfo.anchor._onValueChanged = this._updateConnectedActualAnchor;
+    this._connectedColliderInfo.anchor._onValueChanged = this._handleConnectedAnchorChanged.bind(this);
 
     this._onSelfTransformChanged = this._onSelfTransformChanged.bind(this);
     this._onConnectedTransformChanged = this._onConnectedTransformChanged.bind(this);
@@ -250,6 +235,8 @@ export abstract class Joint extends Component {
     const connectedActualAnchor = connectedColliderInfo.actualAnchor;
     const connectedCollider = connectedColliderInfo.collider;
 
+    // @ts-ignore
+    connectedAnchor._onValueChanged = null;
     if (connectedCollider) {
       const { worldPosition: connectedPos, lossyWorldScale: connectedWorldScale } = connectedCollider.entity.transform;
       Vector3.subtract(selfPos, connectedPos, Joint._tempVector3);
@@ -259,6 +246,18 @@ export abstract class Joint extends Component {
       Vector3.add(selfPos, selfActualAnchor, connectedActualAnchor);
       connectedAnchor.copyFrom(connectedActualAnchor);
     }
+    // @ts-ignore
+    connectedAnchor._onValueChanged = this._handleConnectedAnchorChanged;
+    this._updateActualAnchor(AnchorOwner.Connected);
+  }
+
+  @ignoreClone
+  private _handleConnectedAnchorChanged(): void {
+    if (this._automaticConnectedAnchor) {
+      console.warn("Cannot set connectedAnchor when automaticConnectedAnchor is true.");
+    } else {
+      this._updateActualAnchor(AnchorOwner.Connected);
+    }
   }
 
   @ignoreClone
diff --git a/packages/physics-physx/src/joint/PhysXHingeJoint.ts b/packages/physics-physx/src/joint/PhysXHingeJoint.ts
index 7addf168dc..77f71edc8a 100644
--- a/packages/physics-physx/src/joint/PhysXHingeJoint.ts
+++ b/packages/physics-physx/src/joint/PhysXHingeJoint.ts
@@ -34,7 +34,6 @@ export class PhysXHingeJoint extends PhysXJoint implements IHingeJoint {
     const xAxis = PhysXHingeJoint._xAxis;
     const axisRotationQuaternion = this._axisRotationQuaternion;
     xAxis.set(1, 0, 0);
-    value.normalize();
     const angle = Math.acos(Vector3.dot(xAxis, value));
     Vector3.cross(xAxis, value, xAxis);
     Quaternion.rotationAxisAngle(xAxis, angle, axisRotationQuaternion);
diff --git a/tests/src/core/physics/HingeJoint.test.ts b/tests/src/core/physics/HingeJoint.test.ts
index d6f1ad12d8..4e55ab8e14 100644
--- a/tests/src/core/physics/HingeJoint.test.ts
+++ b/tests/src/core/physics/HingeJoint.test.ts
@@ -60,8 +60,8 @@ describe("HingeJoint", function () {
     joint.automaticConnectedAnchor = true;
     joint.connectedCollider = boxEntity2.getComponent(DynamicCollider);
     joint.anchor = new Vector3(0.5, 0, 0);
-    joint.axis = new Vector3(0, 1, 0);
-
+    joint.axis.x = 0;
+    joint.axis.y = 1;
     expect(formatValue(joint.angle)).eq(0);
 
     collider2.applyTorque(new Vector3(0, 1000, 0));
diff --git a/tests/src/core/physics/Joint.test.ts b/tests/src/core/physics/Joint.test.ts
index 0d5c59c4f5..e6746fec91 100644
--- a/tests/src/core/physics/Joint.test.ts
+++ b/tests/src/core/physics/Joint.test.ts
@@ -95,6 +95,11 @@ describe("Joint", function () {
     joint.automaticConnectedAnchor = true;
     joint.connectedAnchor = new Vector3(1, 1, 1);
     expect(consoleWarnSpy).toBeCalledTimes(1);
+    joint.connectedAnchor.y = 3;
+    expect(consoleWarnSpy).toBeCalledTimes(2);
+    joint.automaticConnectedAnchor = false;
+    joint.automaticConnectedAnchor = true;
+    expect(joint.connectedAnchor).deep.include({ x: 4, y: 4, z: 4 });
 
     // @ts-ignore
     engine.sceneManager.activeScene.physics._update(1 / 60);