function PrismaticJoint( config, lowerTranslation, upperTranslation ){

	    Joint.call( this, config );

	    this.type = JOINT_PRISMATIC;

	    // The axis in the first body's coordinate system.
	    this.localAxis1 = config.localAxis1.clone().normalize();
	    // The axis in the second body's coordinate system.
	    this.localAxis2 = config.localAxis2.clone().normalize();

	    this.ax1 = new Vec3();
	    this.ax2 = new Vec3();
	    
	    this.nor = new Vec3();
	    this.tan = new Vec3();
	    this.bin = new Vec3();

	    this.ac = new AngularConstraint( this, new Quat().setFromUnitVectors( this.localAxis1, this.localAxis2 ) );

	    // The translational limit and motor information of the joint.
	    this.limitMotor = new LimitMotor( this.nor, true );
	    this.limitMotor.lowerLimit = lowerTranslation;
	    this.limitMotor.upperLimit = upperTranslation;
	    this.t3 = new Translational3Constraint( this, this.limitMotor, new LimitMotor( this.tan, true ), new LimitMotor( this.bin, true ) );

	}
A prismatic joint allows only for relative translation of rigid bodies along the axis.

@author saharan
@author lo-th