IK would be possible. It would even work real-time with collisions, ie. Reaching around other objects. basically you just need to change some of the velets to be anchors. Then move around the verlet being used for IK. You might also want to actually disable all the verlets so they aren't even physical. That way it won't have gravity and won't maintain a velocity. just move the minimum distance for IK.
anyone got the latest car physics demo (verlet thing) by various authors?
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