diff --git a/crates/avian2d/examples/distance_joint_2d.rs b/crates/avian2d/examples/distance_joint_2d.rs
index 633e9b504..f03c27f98 100644
--- a/crates/avian2d/examples/distance_joint_2d.rs
+++ b/crates/avian2d/examples/distance_joint_2d.rs
@@ -42,7 +42,7 @@ fn setup(mut commands: Commands) {
         DistanceJoint::new(anchor, object)
             .with_local_anchor_1(Vector::ZERO)
             .with_local_anchor_2(Vector::ZERO)
-            .with_rest_length(100.0)
+            .with_limits(100.0, 100.0)
             .with_linear_velocity_damping(0.1)
             .with_angular_velocity_damping(1.0)
             .with_compliance(0.00000001),
diff --git a/crates/avian3d/examples/distance_joint_3d.rs b/crates/avian3d/examples/distance_joint_3d.rs
index 9e90f2b50..27281626a 100644
--- a/crates/avian3d/examples/distance_joint_3d.rs
+++ b/crates/avian3d/examples/distance_joint_3d.rs
@@ -45,7 +45,7 @@ fn setup(
     commands.spawn(
         DistanceJoint::new(static_cube, dynamic_cube)
             .with_local_anchor_2(0.5 * Vector::ONE)
-            .with_rest_length(1.5)
+            .with_limits(1.5, 1.5)
             .with_compliance(1.0 / 400.0),
     );
 
diff --git a/src/dynamics/solver/joints/distance.rs b/src/dynamics/solver/joints/distance.rs
index c8e3aa4cc..db2009450 100644
--- a/src/dynamics/solver/joints/distance.rs
+++ b/src/dynamics/solver/joints/distance.rs
@@ -31,10 +31,8 @@ pub struct DistanceJoint {
     pub local_anchor1: Vector,
     /// Attachment point on the second body.
     pub local_anchor2: Vector,
-    /// The distance the attached bodies will be kept relative to each other.
-    pub rest_length: Scalar,
     /// The extents of the allowed relative translation between the attached bodies.
-    pub length_limits: Option<DistanceLimit>,
+    pub length_limits: DistanceLimit,
     /// Linear damping applied by the joint.
     pub damping_linear: Scalar,
     /// Angular damping applied by the joint.
@@ -110,15 +108,9 @@ impl XpbdConstraint<2> for DistanceJoint {
             + (world_r2 - world_r1)
             + self.pre_step.center_difference;
 
-        // If min and max limits aren't specified, use rest length
-        // TODO: Remove rest length, just use min/max limits.
-        let limits = self
-            .length_limits
-            .unwrap_or(DistanceLimit::new(self.rest_length, self.rest_length));
-
         // Compute the direction and magnitude of the positional correction required
         // to keep the bodies within a certain distance from each other.
-        let (dir, distance) = limits.compute_correction(separation);
+        let (dir, distance) = self.length_limits.compute_correction(separation);
 
         if distance <= Scalar::EPSILON {
             // No separation, no need to apply a correction.
@@ -172,8 +164,7 @@ impl Joint for DistanceJoint {
             entity2,
             local_anchor1: Vector::ZERO,
             local_anchor2: Vector::ZERO,
-            rest_length: 0.0,
-            length_limits: None,
+            length_limits: DistanceLimit::ZERO,
             damping_linear: 0.0,
             damping_angular: 0.0,
             relative_dominance: 0,
@@ -262,20 +253,11 @@ impl DistanceJoint {
         self.force
     }
 
-    /// Sets the minimum and maximum distances between the attached bodies.
-    pub fn with_limits(self, min: Scalar, max: Scalar) -> Self {
-        Self {
-            length_limits: Some(DistanceLimit::new(min, max)),
-            ..self
-        }
-    }
-
-    /// Sets the joint's rest length, or distance the bodies will be kept at.
-    pub fn with_rest_length(self, rest_length: Scalar) -> Self {
-        Self {
-            rest_length,
-            ..self
-        }
+    /// Sets the minimum and maximum distance between the anchor points of the bodies.
+    #[inline]
+    pub const fn with_limits(mut self, min: Scalar, max: Scalar) -> Self {
+        self.length_limits = DistanceLimit { min, max };
+        self
     }
 }
 
diff --git a/src/dynamics/solver/joints/mod.rs b/src/dynamics/solver/joints/mod.rs
index 0c4d4e3d1..817c72094 100644
--- a/src/dynamics/solver/joints/mod.rs
+++ b/src/dynamics/solver/joints/mod.rs
@@ -153,6 +153,30 @@ pub struct DistanceLimit {
     pub max: Scalar,
 }
 
+impl From<Scalar> for DistanceLimit {
+    /// Converts the given `limit` into a [`DistanceLimit`] where `min == max`.
+    fn from(limit: Scalar) -> DistanceLimit {
+        DistanceLimit {
+            min: limit,
+            max: limit,
+        }
+    }
+}
+
+impl From<[Scalar; 2]> for DistanceLimit {
+    /// Converts the given `[min, max]` array into a [`DistanceLimit`].
+    fn from([min, max]: [Scalar; 2]) -> DistanceLimit {
+        DistanceLimit { min, max }
+    }
+}
+
+impl From<(Scalar, Scalar)> for DistanceLimit {
+    /// Converts the given `(min, max)` pair into a [`DistanceLimit`].
+    fn from((min, max): (Scalar, Scalar)) -> DistanceLimit {
+        DistanceLimit { min, max }
+    }
+}
+
 impl DistanceLimit {
     /// A `DistanceLimit` with `min` and `max` set to zero.
     pub const ZERO: Self = Self { min: 0.0, max: 0.0 };
@@ -215,6 +239,30 @@ pub struct AngleLimit {
     pub max: Scalar,
 }
 
+impl From<Scalar> for AngleLimit {
+    /// Converts the given `limit` into a [`AngleLimit`] where `min == max`.
+    fn from(limit: Scalar) -> AngleLimit {
+        AngleLimit {
+            min: limit,
+            max: limit,
+        }
+    }
+}
+
+impl From<[Scalar; 2]> for AngleLimit {
+    /// Converts the given `[min, max]` array into a [`AngleLimit`].
+    fn from([min, max]: [Scalar; 2]) -> AngleLimit {
+        AngleLimit { min, max }
+    }
+}
+
+impl From<(Scalar, Scalar)> for AngleLimit {
+    /// Converts the given `(min, max)` pair into a [`AngleLimit`].
+    fn from((min, max): (Scalar, Scalar)) -> AngleLimit {
+        AngleLimit { min, max }
+    }
+}
+
 impl AngleLimit {
     /// An `AngleLimit` with `alpha` and `beta` set to zero.
     pub const ZERO: Self = Self { min: 0.0, max: 0.0 };