An inverse kinetics wrapper for ogre of BussIK (written by Samuel R. Buss)

BussIK is part of the bullet physics engine and can be found under thieir examples/ThirdPartyLibs,

or from the authors site

http://www.math.ucsd.edu/~sbuss/ResearchWeb/ikmethods/index.html