ball-and-socket Joint Limit Solver

Hi guy!
i'm trying to do a IK solver!

http://www.ogre3d.org/forums/viewtopic.php?f=11&t=49200&sid=7a21ca530d9c35a2da0c92e1802bf349

at this point i need to implement a Ball & Socket Joint Limit to keep the arm moving right!

searching on google i've found that OGRENewt have this solver, but i cant find the source...
i need to find the source code of the function that control the Joint swing and twist , and if necessary modify the Bone direction in according to his limit!
anyone can help me??
thx a lot!!

OgreNewton its a Ogre3D wrapper for Newton Game Dynamics, and Newton Game Dynamics is closed-source.

But this is very doable with OgreNewt custom joints and some people have already done something similar, search NGD forums. For example, check this out.