Have you guys looked at this?
http://home.planet.nl/~monstrous/tutcar.html
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http://www.hpl.hp.com/techreports/2000/HPL-2000-124.html
http://home.planet.nl/~monstrous/tutcar.html
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http://www.hpl.hp.com/techreports/2000/HPL-2000-124.html