For me it was "want to make a fish swim realistically with inverse kinematics"? Break out the Jacobian Matrices. Although, to be intellectually honest, I went

For me it was "want to make a fish swim realistically with inverse kinematics"? Break out the Jacobian Matrices. Although, to be intellectually honest, I went only went as far as to research this, and no further. I just didn't see it as worth the time.