Unfortunately, writing an IK solver isn't an option. I'm not remotely confident enough in the way the 3D engine in question handles skeletal animation as it is. 95% of my wasted time has been coding around bugs, and questionable features in the handling of skeletal animation. I'm almost certain that one of these "questionable features" makes it impossible to control the bones as you would need to in any case.
A Design Quandary
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