Sure, this could be the next approach in Armory, a system that choose animations that follow the simulation, and so do a move/rotate from animation and not the inverse as actually we do.
However there is a cost to generate sufficently mocap that you will need for your game. It’s the same problem of cost as this met for the training a Neural Network.
The good news is that we could use something like ATRAP coupled with an IK capabilty to do it.
In fact, if every candidate jumping point has a cost, same approach is used in ATRAP, it’s the reward we give after an action that is used to train the Neural Network.
(see here IA, Python and Armory 3d/Blender or here https://youtu.be/ef-S7M6_yEo)
After training the NN, we could have a way to obtain very kickly (and at low cost with no need of a complicated installation for mocap …) the best animation/mocap candidate to reach a new point.