The RJ_InsertCode project is a TinyMCE 3.x plugin that will automatically style code samples for different languages. Its core architecture is based on the Insertcode plugin for older versions of TinyMCE, but it has been almost fully rewritten for TinyMCE 3. There is a simplified setup, more features, a JCE 1.5 installer, and a commented codebase to assist in learning how it works and tweaking it.

If we limit the problem to a two bone chain in a two-dimensions, we can derive the anaytic solution without much complexity. This will generally be more efficient than its iterative alternatives. While this specific case lends itself to a 2D world, it can also be used in 3D as long as the kinematic chain's motion is limited to a single plane.