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Killing Orthogonal Velocity or Slip of a Rigidbody

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Hi, I am trying to implement 2D (top down view) car physics. The basic setup is like this: 2 wheels attached by hinge joint to the body of the Car. On key Press a force is applied to the wheels which pull the car. BUt the car slips once the wheels are turned. I need to kill the slip velocity of the wheels. Any ideas?

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