I am beginning to find this physics engine very limiting.

Why can't I set limits on both axis' of rotation of a wheel constraint?

Why can't I limit the rotation of an entity along the slider axis of a slider contraint? I just want it to slide not rotate.

Why can't I limit the rotation of a ball constraint around any of the axis'?

My path down frustration lane started with trying to make a brake for my vehicle wheels. The simple solution would be to just motor the wheels to 0 angular velocity with a high torque. However, on a steep slope the vehicle will still roll down hill with the brakes applied. This is due to the fact that contraints are allowed to shift out of their proper positions. I can fix that by adjusting the values of CFM or ERP but if I do that my brakes work but then my physics objects tend to randomly 'explode' and, of course, all the joints are too stiff.

No brakes yet...but I would appreciate if someone could give help out with some code that would generate a +1 or -1 to indicate whether a wheel is rotating clockwise or counterclockwise.