Abstract: Systems and methods for simulating ballistic motion on an animated object by continuously defining rest poses of the animation object in a motion simulator. Tetrahedral finite element simulation may be used with control mechanisms that target the simulation pose towards the animation. A simulation mesh is generated for two or more animated poses based on a first simulation mesh corresponding to a first pose of the animated object. The simulation meshes of the two or more animated poses are provided to a simulator for use by the simulator such that in the absence of external force and acceleration the simulator output approximates the animated poses. Embodiments of the present invention are particularly useful for fleshy, blobby animation objects such as human characters, although the techniques can be used for other objects having different characteristics.