BEPUphysics

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            var locker = new RevoluteMotor(wheel1, wheel2, Vector3.Right);
            
            //Options:
            //1) FULL LOCK
            //Uncomment this section to fully lock the wheels together. The motor will seek to maintain the same rotation and correct any drift in rotation.
            //This is slightly more 'locky' than merely leaving it a rigid velocity constraint with a goal of zero relative motion due to that position correction;
            //a rigid velocity constraint could drift a bit under sufficient force.
            //locker.Settings.Mode = MotorMode.Servomechanism;

            //2) PARTIAL DAMPING LOCK
            //Uncomment this section to apply a damping force on any relative angular motion between the wheels. This assumes the motor is in velocity mode, not servo mode.
            //locker.Settings.VelocityMotor.Softness = .05f;

            //3) PARTIAL MAXIMUM FORCE LOCK
            //Uncomment this section to apply a force on any relative angular motion between the wheels.
            //This is different from damping; this just applies a force up to a certain limit.
            //locker.Settings.MaximumForce = 100f;

            //It's also possible, but a little less natural, to use a velocity limited lock. Check the relative velocity of the wheels and, if it exceeds some value, activate the
            //constraint with a target of the maximum velocity and with some maximum force.
            //Care must be taken with this approach; the constraint is an equality constraint, not an inequality constraint. It will try to reach the velocity goal from either direction.
            //It wouldn't be too hard (but not trivial) to modify a RevoluteMotor to create an inequality velocity constraint if this was an important feature.

            //4) FULL SLIP TOGGLE
            //Uncomment this to disable the constraint. You can toggle this whenever you want to conditionally use the locking constraint.
            //(Not being in the space has the same effect as being inactive, but if you plan to turn it off and on frequently, it's usually more convenient/speedy to use the IsActive property.)
            //locker.IsActive = false;

            Space.Add(locker);