How to implement a skeletal model?

Question

Programming

For one idea, it was necessary to implement a skeletal model (not so much graphically as algorithmically).
The question is how to store such structures. Ideally, there should be something like "joint points" and "bones", which are respectively connected to the "joints", there seems to be no problem with this, the problem is how to reflect changes in the entire model, for example, one of the points is shifted by N to the left and forward, respectively, the rest should be pulled up behind it, the bones should not fall off and stretch, but I can’t understand how to describe it.
Ideally, you need to be able to get complete information about all the bones at any time (the angle relative to x or y, the height above some abstract plane for each of the points of the joints of the bone) and be able to shift each of the points of the joints in one direction or another. If anyone knows kick in which direction you can dig?

Answer 1

The task as a whole is a little more difficult, search for the phrase "Inverse kinematics".
Here is an article on Habré habrahabr.ru/post/222689