Real-Time Physics Simulation Forum

A quick question: does bullet include inverse kinematics that could be used to control a skinned mesh?
I.e. it would allow me to enter the joints and constraints of a human skeleton and when I fix the feet to the floor and push down the root node, the knees would bend.

Yes, PyBullet has inverse kinematics. If you set the base/torso to a specific location, you can set the IK targets for the feet, and you get joint angles that make the feet bend.