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What kind of animation is this?

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I'm making a game that takes in a 3d point, which represents the current position of a model's hands clasped together. So, I have a model, and some where in 3d space in front of this model, there is a point. This point will move around on all 3 coordinate planes within an acceptable boundary -- arms can only extend so far as they can reach. What kind of animation is this? Basically, I want the model's arms to manipulate themselves so that its hands can stay on the 3d point. I was thinking about using a physics library to create the arm out of 2 blocks and and elbow joint. Then adding weight to the elbows so they droop. (shoulder)(hinge) (upper arm) (hinge with weight) (lower arm) would this work? what alternatives do i have? Thanks

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