Rigidbody (car) torque problem

I'm trying to make car physics using rigidbodies with joints and i've got 2 problems:

1) nevertheless what torque i put on wheel, it's still slow.

Video of model and source code here: http://www.youtube.com/watch?v=d7Ex1dxCHow

2) Configurable joint allows only absolute axis freezing, but not relative ones... So when i turn my wheels left or right, they fall down... when i move them 90 degrees by X axis, they normaly turns left or right (as seen on video)

Here is a screenshot, that shows how did I configured a joint:

 

1. thing solved - http://docs.unity3d.com/Documentation/Images/manual/class-PhysicsManager-0.jpg - I've set up more max angular velocity in physics manager.

Buts still can't find out, how to solve that axis freezing thing.

 

Now it looks like this: http://www.youtube.com/watch?v=3IxuBPcVeKc ... i think that configurable joint has some problem with springs even they're 0 and axes are fixed. (sorry for the music in video, but it captures the atmosphere of the game )

 

You need to know what are you doing with c. joints. Download my Tank Simulation and take a look how c. joints can be used. Most of the things are created in that simulation is done with them. Springs are working just fine, you just need to understand the c. joints.

 

OK, i'll try to find some c. joints tutorial

 

Nothing found.. All the people use wheelcollider on cars instead of real physics.