[ODE] Implementing a new joint

[Guru2012]

I've successfully implemented the joint by cloning the Plane2D joint and
modifying its code. The joint restricts all rotation, allowing only X, Y,
and Z translational velocities. Additionally, it allows for 3 linear motors.

I did not want to set values and cause potential discontinuities in the
simulation by forcing values, which is why I wanted to use a joint.

-Andrew
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