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Typically forward simulation is well understood, but the inverse problem of motion synthesis\u2014that of synthesizing motions consistent both with physical law and with the animator's requirements\u2014is generally tedious and sometimes intractable. We show how <jats:italic>N<\/jats:italic>\u2010body inverse problems can be formulated as optimization tasks. We present a simply stated, but combinatorially formidable example that exhibits all of the essential sources of complexity common to <jats:italic>N<\/jats:italic>\u2010body motion synthesis, and show how it can be solved approximately using heuristic methods based on evolutionary computation.<\/jats:p>","DOI":"10.1002\/vis.4340060304","type":"journal-article","created":{"date-parts":[[2006,11,17]],"date-time":"2006-11-17T14:50:06Z","timestamp":1163775006000},"page":"143-154","source":"Crossref","is-referenced-by-count":10,"title":["<i>N<\/i>\u2010body spacetime constraints"],"prefix":"10.1002","volume":"6","author":[{"given":"Diane","family":"Tang","sequence":"first","affiliation":[]},{"given":"J. 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