Recently we released a new constraint: the CylindricalConstraint. You can find the API documentation at:
The cylindrical constraint combines properties of both prismatic and hinge constraint, allowing translation along a line and rotation around an axis. It is equivalent to a prismatic constraint and a hinge constraint with an intermediate part between the two.
In the cylindrical constraint, the axes of rotation and translation don’t have to have the same direction. They can be same, opposite or any angle in between.
An application of the constraint is in building vehicle suspension where the two axes are perpendicular. The cylindrical constraint simplifies this process: it removes the need for a knuckle - the intermediate part between the wheel and the suspension that often causes instabilities - and the wheel is attached directly to the chassis.