Dimension of constraints

So I currently have a very basic motor in, just achieves a certain angular velocity as an equality constraint, but I thought I'd mention an issue I ran into.

Constraints can only be solved on one dimension at a time in constraint space. Well what does this mean? When a constraint is moved from normal euclidean (or another space) into constraint space it becomes a generalized coordinate. An example of such things is the contact constraint. When we look at it we see that the constraint is in multiple directions, the x,y,z. But in reality the constraint is along one dimension, the normal. So what becomes a two dimensional constraint space problem? How about friction. Friction constrains the movement in the plane perpendicular to the normal. Well there are an infinite number of directions to pick from if you use only one, but if you use two then you can cover the entire space. This brings me to where I actually learned this issue, with motors. If you want to make a motor have a target angular velocity of 1 about the x, 0 about the y and 5 about the z, well you can't, at least not with once constraint. As some may recall, we have three degrees of rotational freedom, so obviously we can only constrain 1 degree at a time. So to take care of this issue we have to have 3 constraints, one for each axis angle we want to rotate about.

I'm trying to get a better way to manipulate my motors, mainly via the arrow keys so I can control a player, but things aren't set up well for that right now on top of the fact that our gold at DigiPen is due in less than a week now. After this semester I might be re-gutting most of my engine, but I'll try to get a basic video up before then.