React Three Fiber Rapier Physics Constraints

Act as a Mechanical Engineer and 3D Coder. Explain the exact programmatic implementation of complex, multi-part mechanical linkages in React Three Fiber utilizing the Rapier physics engine's advanced joint constraint system. Detail the code required to forge a mathematically perfect [JOINT_TYPE] (e.g., a revolute, prismatic, or spherical joint) physically locking the two distinct [CONNECTED_BODIES] together in 3D space. You must specify exactly how to tune the [DAMPING_PARAMETERS] and stiffness constants to ensure smooth, non-jittering motion, and demonstrate how to inject hard min/max limit angles to physically restrict their movement ranges. Include a complete code example illustrating the assembly of a swinging pendulum or a vehicle suspension arm.