Stephen Chenney and D. A. Forsyth.
  <b>Sampling Plausible Solutions to Multi-body Constraint
  Problems</b>.
  In <i>Proceedings of ACM SIGGRAPH</i>, pages 219-228. ACM Press,
  2000.
  <A HREF="http://vis.cs.brown.edu/docs/pdf/bib/g/Chenney-2000-SPS.pdf.html">(pdf)</A>
  <A HREF="http://vis.cs.brown.edu/results/bibtex/Chenney-2000-SPS.bib">(bibtex:
  Chenney-2000-SPS)</A>.<br />