A simple unified approach for dealing with constraints on real-valued parameters in computer simulations and computer animation is described. The main characteristics of the approach are its flexibility (it works for a variety of constraint-types and it can be implemented to handle both under- and over-constrained systems in a stable way) and its ease for distributed computation. The method is based on the idea of genetic algorithms. The mathematical merits of the method for one constraint-type are discussed in some detail and some examples of applications are given.
Overveld, van, C. W. A. M., & Loon, van, E. (1992). Hanging cloths and dangling rocks : a unified approach to constraints in computer animation. Journal of Visualization and Computer Animation, 3(1), 45-59. https://doi.org/10.1002/vis.4340030107