Usually, animations are created by animators in a 3D modeler (i.e. 3DSMax, Maya) directly on the desired virtual character. Consequently, the resulting motions can hardly be animated on characters with different morphology. On the opposite, Golaem Motion stores the motions using a morphology-independent representation of the skeleton. This representation allows the animation of hundreds of different characters on common computers. Each action is associated to intrinsic constraints (such as ensuring foot contact without sliding, reaching targets...). Golaem Motion offers an authoring tool called MotionMaker in order to edit those constraints, ensuring that they will be verified in the real-time animation engine.

In order to avoid blending incompatible motions (such as a left hopping motion and a locomotion with the right foot on the ground), synchronization is necessary. This process takes the sequence of stances into account in order to ensure that a motion is compatible with all the running ones in real-time. If two motions are not compatible, it applies the required dynamic time warping in order to solve the problem.

Ground adaptation is based on the calculation of footprints depending on the current actions. In real-time, these footprints are corrected in order to take the shape on the ground into account.

Golaem Motion offers an automatic motion blending algorithm based on the computation of weights according to priorities intuitively and interactively tuned by the user. Priorities are associated to each actions and to each body group. For example, walking is associated to high priorities on the legs while a grasping uses high priority on the active arm. This allows to grasp an object while walking.

Golaem Motion is predictable and is able to compute as many future footprints as wanted. Those latter can then be modified in any way through several different levels : from the lower one, which allows to modify the position and orientation of any footprint (put the feet in a realistic configuration when climbing stairs for example), to the higher one, which offers to give a global direction to the motion (reach a point for example).

A real-time 3D inverse kinematics solver included in Golaem Motion in order to adapt the motion to additional constraints. The engine also provides a center of mass controller to insure that the mixing of several motions, always respect the basic rules of dynamics.