Update: I got all the joint to work properly now. I actually had to add a horizontal component to the gravity to make it fall over this time. Thanks for all the help. http://jwstolk.xs4all.nl/wisse/test4.mpg (1:2 slow-motion) http://jwstolk.xs4all.nl/wisse/main4.c (C source file) http://jwstolk.xs4all.nl/wisse/test4.pov (povray source file) Jaap.