We’ve got a bug in HavokPlugin.setAxisMotorType() - we’re passing the motor type straight into the WASM; it needs to be converted to the “native” type, like we do for the axis ID.
I was able to workaround it in the playground by passing in the native type directly. Here’s a playground that I based on the above which shows how. I also modified the joint and shapes to make it a bit easier to see the effect of the motor. I’d definitely like to add some more interfaces to the simple joint types. As it is, they use the 6DOF interface under the hood, but in a limited way, to make them easier to setup.