Ah I see what you mean now. I got it to work but the kinematic joint still gives me trouble where the object will drag across the ground and jitter. I think the problem is, it drags and gets a new rotation, and then next frame the target rotation is set, causing a jitter between the two. Is Joint::Vector() able to be moved at all? I know it can be moved around if something hits it, but I want to add forces to it...