Most animation is done using a process called forward kinematics, which calculates the position and orientation of joints and bones based on their local rotation and the position and orientation of all of the parent joints and bones. However, my goal was to have the model react to the position of the six tracked points—the head, hands, hips, and feet. This involves working backwards, through a process called inverse kinematics. Using the position and orientation of the tracked points, values for the desired positions and orientations of the parent bones and joints are calculated by running the values through a series of weighted equations specializaed for each portion of the humanoid rig. The result is a character that mimics the movement of it's pilot using only the six tracked points.