Wrapped all constraint types into classes.
Wrapped all constraint types into classes.

daviddeng/azrael,olitheolix/azrael,olitheolix/azrael,olitheolix/azrael,olitheolix/azrael,daviddeng/azrael,olitheolix/azrael,daviddeng/azrael,daviddeng/azrael,daviddeng/azrael