I'm trying to implement skeletal animation in my framework and have been studying a book called “Physics Based Animation”. To represent the joint transformations it uses Denavit-Hartenberg parameters. At this point I'm trying to get a grasp of it but from all the resources I've read so far (online) I've only heard it being mentioned in terms of robotics. Like kinematics of actual, physical robotic joints. I just wanted to find out if there would be any problems if I implemented this system in a game engine, or is there some good reason that it's not used in real-time software?