diff --git a/core/src/objects/joint/motor6d.cpp b/core/src/objects/joint/motor6d.cpp
index 64bf926..d6e51a0 100644
--- a/core/src/objects/joint/motor6d.cpp
+++ b/core/src/objects/joint/motor6d.cpp
@@ -44,21 +44,6 @@ void Motor6D::OnPhysicsStep(float deltaTime) {
     // Shouldn't in theory be necessary, but just in case.
     if (part0.expired() || part1.expired()) return;
 
-    if (!part1.lock()->anchored) {
-        CFrame anchorPoint = part0.lock()->cframe * c0;
-        Vector3 angles = anchorPoint.ToEulerAnglesXYZ();
-        CFrame rotatedAnchor = CFrame::FromEulerAnglesXYZ({angles.X(), angles.Y(), currentAngle}) + anchorPoint.Position();
-        CFrame newFrame = rotatedAnchor * c1.Inverse();
-        
-        part1.lock()->cframe = newFrame;
-        part1.lock()->UpdateNoBreakJoints();
-    } else if (!part0.lock()->anchored) {
-        CFrame anchorPoint = part1.lock()->cframe * c1;
-        Vector3 angles = anchorPoint.ToEulerAnglesXYZ();
-        CFrame rotatedAnchor = CFrame::FromEulerAnglesXYZ({angles.X(), angles.Y(), currentAngle}) + anchorPoint.Position();
-        CFrame newFrame = rotatedAnchor * c0.Inverse();
-        
-        part0.lock()->cframe = newFrame;
-        part0.lock()->UpdateNoBreakJoints();
-    }
+    // TODO: Re-add rotating only one part when both are unanchored, maybe?
+    joint.setTargetAngle(currentAngle);
 }
\ No newline at end of file
diff --git a/core/src/physics/world.cpp b/core/src/physics/world.cpp
index 7092772..bf9e64a 100644
--- a/core/src/physics/world.cpp
+++ b/core/src/physics/world.cpp
@@ -234,14 +234,17 @@ PhysJoint PhysWorld::createJoint(PhysJointInfo& type, std::shared_ptr<BasePart>
         settings.mPoint2 = convert<JPH::Vec3>(info->c1.Position());
         settings.mNormalAxis2 = convert<JPH::Vec3>(info->c1.RightVector());
         settings.mHingeAxis2 = convert<JPH::Vec3>(info->c1.LookVector());
+        
+        // settings for Motor6D
+        settings.mMotorSettings.mSpringSettings.mFrequency = 20;
+        settings.mMotorSettings.mSpringSettings.mDamping = 1;
         constraint = settings.Create(*part0->rigidBody.bodyImpl, *part1->rigidBody.bodyImpl);
         
         if (PhysMotorizedJointInfo* info = dynamic_cast<PhysMotorizedJointInfo*>(&type)) {
             static_cast<JPH::HingeConstraint*>(constraint)->SetMotorState(JPH::EMotorState::Velocity);
             static_cast<JPH::HingeConstraint*>(constraint)->SetTargetAngularVelocity(-info->initialVelocity);
-        } else if (PhysStepperJointInfo* info = dynamic_cast<PhysStepperJointInfo*>(&type)) {
-            static_cast<JPH::HingeConstraint*>(constraint)->SetMotorState(JPH::EMotorState::Velocity);
-            static_cast<JPH::HingeConstraint*>(constraint)->SetTargetAngularVelocity(0);
+        } else if (PhysStepperJointInfo* _ = dynamic_cast<PhysStepperJointInfo*>(&type)) {
+            static_cast<JPH::HingeConstraint*>(constraint)->SetMotorState(JPH::EMotorState::Position);
         }
     } else {
         panic();