I'm looking for some robust C/C++ source code for finding an inverse
kinematics solution based on an arbitrary skeleton, with results for
each bone in Euler angles (roll, pitch, yaw). By "robust," I mean that
I'm not looking for a trivial iterative solution such as is found
here: http://www.darwin3d.com/gdm1998.htm . I'm looking for a solution
that returns an "optimal" solution, and takes into account various
joint parameters, such as angle limits, resistance to bending, etc..
I.e., I'm looking for an implementation that would useful for
real-world animation. (Note: This if for a non-commercial purpose, so
GNU-licensed code is acceptable...as long as it's "robust.")

Hello Brementown,

The "Game Developer Magazine" print publication includes C++ code
samples within tutorials. See the following back issue:

The Inner Product by Jonathan Blow
Inverse Kinematics with Joint Limits
http://www.gdmag.com/backissue2002.htm#apr02