I've lost two days trying to figure this out. I have a simple torus (donut), and I want it to float, move and wobble in space but never to flip upside down. I've applied a configurable joint, and limited the X Z Angular motion like this: Low Angular XLimit Limit: -30 Bounciness: 1 Spring: 20 Damper: .15 High Angular XLimit Limit: 30 Bounciness: 1 Spring: 20 Damper: .15 Angular ZLimit Limit: 30 Bounciness: 1 Spring: 20 Damper: .15 Everything else is at their default settings, I believe. If I restrict the X or Z rotation on the rigidbody, the limit works fine for the other axis, but with all axes free the thing just freaks out as soon as it's affected by a force. It rotates beyond its limits and starts spinning like crazy. What am I doing wrong? The effect I'm trying to get is similar to a tire swing, but without the suspension chains. I just want the donut to lean in all directions, while spinning freely on the Y axis, but never lean past 90 degrees X or Z and flip over. Thanks for any help!