Functionality that is missing / not exposed:

• joint limits (soft+hard) for all joint types (e.g. 6DOF)
• drives/motors for all joint types
• make it possible to switch these settings after the joint was created, e.g. to switch on/off a motor or change a joint's limit
• make the distance joint easier to use (set anchor point via object reference)
• have more visualizers for important parameters