Inverse kinematics can be done in several ways (this webinar gives a very good overview https://www.youtube.com/watch?v=X0OZ9EM6dns). A effective and simple method is to run a model in reverse direction. This can’t be done with causal modeling tools, where information flow is fixed by design (https://de.maplesoft.com/support/help/MapleSim/view.aspx?path=MapleSimUserGuide/Chapter01).
Inverse kinematics, which is possible with acausal modeling tools, is only an example for running a model in the reverse (i.e., inverted) direction.
Without success, I tried to find a reference who first came up with that elegant approach.
Anyone knows more?