  We present a realistic, robust, and computationally fast method of solving
highly non-linear inverse kinematic problems with angular limits using the
Gauss-Seidel iterative method. Our method is ideally suited towards character
based interactive applications such as games. To achieve interactive simulation
speeds, numerous acceleration techniques are employed, including spatial
coherent starting approximations and projected angular clamping. The method has
been tested on a continuous range of poses for animated articulated characters
and successfully performed in all cases and produced good visual outcomes.
