controller.setVelocity(new Vector3());
controller.setPosition(pickpoint);
controller.updateTransformations();
target.updateTransformations();
this.force = new BallInSocketJoint(target, controller, controller.getPosition(), new Vector3(0,1,0));
this.force.setForceLimit(1.5*target.getMass());
this.force.setCorrectionVelocityLimit(7);
// copy angular mass properties
inertia = new InertiaMatrix(target.state.inertia);