Sorry for the late post! But I was blown up by a bunch of information from the classes introducing IK.
Different Jacobian methods were introduced , together with the advantages and disadvantages for each. I found it interesting that the new expression in the Damped Pseudoinverse Method not only enables the balance between oscillations and convergence rate, but also provides a nullspace approach to prioritize the movements.
There are also CCD and FABRIK methods. I think these two methods look more friendly, because they deals with vector coordinate space directly. They are not only easier to understand and implement, but they are also faster. Although their performance might not be enough in some cases, they should be very useful in game industry where efficiency is more important than absolute quality, and I really appreciate their beauty of simplicity.
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