That's a really cool example, the maths are getting more and more complex eh
It's a shame about the jitter, I've been pondering how exactly to remove that. I'm still not sure about the whole radians/angles thing... since all of Box2d's calculations are implemented using radians (which is the proper way to go in a mathematical sense) yet everything in the physics behaviour and construct in general uses degrees...
I'll just have to keep trying stuff and see what comes of it
Maybe there's a way of implementing it by setting the angular velocity as opposed to using torque