Jada Pinkett Smith Talks ''Foreplay'' With Will Smith and Her No. 1 Motivation to Stay Fit

Jada Pinkett Smith's body is outta control.

The 43-year-old actress shows off her killer figure on the January-February cover of Shape magazine in a sexy orange bikini--and holy smokes, she's looking better than ever.

The mother of two dished to the fitness mag about how she's staying fit these days, and how her workouts have changed drastically over the years.

"My energy levels just aren't the same," she admitted. "My joints, my knees, the amount of weight that I can push versus what I did in my twenties, how long I'm willing to work out. For example, I'm not staying at the gym for two hours anymore. I hit it and quit it...I'm not going to stress my body that way anymore. I can't."

When asked what her biggest motivators for staying in such amazing shape are, she revealed that her hunky husband, Will Smith, plays a big part.

"I love when Will looks at me and says, 'You look so freaking good!' When my husband of almost 20 years can't take his eyes off me? That's amazing," Smith shared.

"But the No. 1 reason I go to the gym is because it keeps me sane. It gives me a place to exert energy, frustration, sadness, happiness, and joy. I don't go to the gym just to look good. I go because it also keeps my head straight."

In addition to keeping her body in tip-top shape, she also constantly works to keep her mind right.

"I read a lot of spiritual and self-expansion books. Will and I were just reading The Tao of Physics by Fritjof Capra together and having long discussions about it."

She added, "It's a big turn-on for me in a relationship to be spiritually and intellectually challenged by Will. To me, it's like foreplay! Of course, I enjoy that I have sex in my relationship, but I think this other intellectual aspect is quite unique and something that strongly connects us."