Kirk Haller Audrey Lee-St. John Meera Sitharam Ileana Streinu Neil White Body-and-cad geometric constraint systems. 1127-1131 2009 SAC http://doi.acm.org/10.1145/1529282.1529530 conf/sac/2009 db/conf/sac/sac2009.html#HallerJSSW09