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On tapping on screen I`m gonna apply impulse and angular rotation to sprite to move it to the sides. But after some time OR parameters of physics body attached to sprite should go back to initial (impulse 0, angular speed = 0). What are the best ways to do that (use CCAction or on update detect parameters of physics body and change them to initial)?

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define "best" otherwise the answer is: "any way that works is fine"LearnCocos2D

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If i were in your position, I would probably start a timer at the first collision of the sprite and then use a CCAction to transition to the initial state to make it look smooth. Don't know if its the best way though.