Clutch not locked but not slipping??

[NaN]

The SetTorque naming is wrong as it applies/adds torque. As long as it is used only once per step it still ok, but should be fixed nonetheless.

I ran into the oscillation issue when I started contributing to vdrift. The simulation will get worse with lower wheel inertia and higher clutch torque.

There is an alternative implementation which won't have this issues. But it is not ready to go into master yet.