function AngularConstraint( joint, targetOrientation ) {

	    this.joint = joint;

	    this.targetOrientation = new Quat().invert( targetOrientation );

	    this.relativeOrientation = new Quat();

	    this.ii1 = null;
	    this.ii2 = null;
	    this.dd = null;

	    this.vel = new Vec3();
	    this.imp = new Vec3();

	    this.rn0 = new Vec3();
	    this.rn1 = new Vec3();
	    this.rn2 = new Vec3();

	    this.b1 = joint.body1;
	    this.b2 = joint.body2;
	    this.a1 = this.b1.angularVelocity;
	    this.a2 = this.b2.angularVelocity;
	    this.i1 = this.b1.inverseInertia;
	    this.i2 = this.b2.inverseInertia;

	}
An angular constraint for all axes for various joints.
@author saharan