... > And for angular velocity: > > float angularVelocityDamp = .9; > float torqueScale = (angularVelocityDamp - 1.0F) / timestep; > const dReal* angularVel = dBodyGetAngularVel (body); > dBodyAddTorque (body, forceScale * angularVel [0], forceScale > * angularVel [1], forceScale * angularVel [2]); You use 'forceScale' instead of 'torqueScale' in that last statement. Might just be the problem. ;-) Ruud