i'm not so good in math, not as good as someone could, but i still need to implement IK for one of my game, i'm interested to know about which solution is mostly used, and if possible, which one will work well with C# execution time, and unity environment. I don't want to implement every of the solution to test them one by one, i really don't have enough time or even knowledge for that. (as far as i know, there is jacobian method, and cyclic descent, and some others, i don't want to make advanced physics simulations, but just have something good enough for C# games, which would still look smooth.)
Do someone could tell what solution is used in Unity? https://docs.unity3d.com/Manual/InverseKinematics.html
what solution should i choose for a C# engine, or a C# game?
