>>717450936
Some but not all, FABRIK, Forward and Backwards Reaching Inverse Kinematics, is but one many IK algorithms, but was the easiest for me to conceptually understand.

Besides FABRIK for Inverse Kinematics Cyclic Coordinate Descent (CCD), Jacobian Inverse Kinematics, and Analytical Inverse Kinematics. Of these only FABRIK and CCD are fast enough for games.

Also Verlet Integration is good for ropes, but that a different can of worms, I think.

This video made the algorithm it click for me.
https://www.youtube.com/watch?v=DOR0kO-UXsI