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basic algorithm

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Inverse Kinematics (IK) systems attempt to solve a fundamental artistic
problem with math. While the math may technically bring a character's
leg to the correct position, it rarely imparts a sense of weight
or timing. This article presents a technique for creating IK effects
without these problems. The method uses only artist-created animation
that is blended to perform IK. By using animation only, the artist
retains control of the entire process. The character can now struggle
as he runs uphill while shifting his weight and speed, all without
losing accuracy of the foot positions which match the grade of the
ground. This article illustrates the practical applications of multi-axis
blending, blend hierarchies and priority blend trees as well as
the pitfalls of using such a system in the real world.

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