Re: "NAT64 did not work if you use IP address, for example, you go to ping a IPv4 IP address on a IPv6 only host."
Technically, you could ping the IPv4 host if you know the mapped IPv6 address, but as that's locally significant between your host and your NAT64 gateway (and configured on your DNS64 gateway), and you'd need to do the math yourself, which makes it impractical. Reaching network elements by IP address was difficult enough with just IPv4... IPv6 is ludicrous. It's also why (as you said), DNS64 is the magic pixie dust that glues everything together.
Taking the public DNS server 4.2.2.2, and knowing my NAT64 gateway used a prefix of 2001:470:1f11:10dd:4444::/96, I can successfully ping (and do digs against) it.
4.2.2.2 is mapped to 2001:470:1f11:10dd:4444:0:0402:0202
joel@maestro:~$ ping6 2001:470:1f11:10dd:4444:0:0402:0202
PING 2001:470:1f11:10dd:4444:0:0402:0202(2001:470:1f11:10dd:4444:0:402:202) 56 data bytes
64 bytes from 2001:470:1f11:10dd:4444:0:402:202: icmp_seq=1 ttl=55 time=11.1 ms
64 bytes from 2001:470:1f11:10dd:4444:0:402:202: icmp_seq=2 ttl=55 time=10.4 ms
^C
--- 2001:470:1f11:10dd:4444:0:0402:0202 ping statistics ---
2 packets transmitted, 2 received, 0% packet loss, time 1001ms
rtt min/avg/max/mdev = 10.422/10.770/11.119/0.363 ms
joel@maestro:~$ dig aaaa @2001:470:1f11:10dd:4444:0:0402:0202
www.google.com; <<>> DiG 9.7.3 <<>> aaaa @2001:470:1f11:10dd:4444:0:0402:0202
www.google.com; (1 server found)
;; global options: +cmd
;; Got answer:
;; ->>HEADER<<- opcode: QUERY, status: NOERROR, id: 33215
;; flags: qr rd ra; QUERY: 1, ANSWER: 6, AUTHORITY: 0, ADDITIONAL: 0
;; QUESTION SECTION:
;www.google.com. IN AAAA
;; ANSWER SECTION:
www.google.com. 1774 IN CNAME
www.l.google.com.
www.l.google.com. 274 IN AAAA 2001:470:1f11:10dd:4444:0:4a7d:e111
www.l.google.com. 274 IN AAAA 2001:470:1f11:10dd:4444:0:4a7d:e112
www.l.google.com. 274 IN AAAA 2001:470:1f11:10dd:4444:0:4a7d:e113
www.l.google.com. 274 IN AAAA 2001:470:1f11:10dd:4444:0:4a7d:e114
www.l.google.com. 274 IN AAAA 2001:470:1f11:10dd:4444:0:4a7d:e110
;; Query time: 27 msec
;; SERVER: 2001:470:1f11:10dd:4444:0:402:202#53(2001:470:1f11:10dd:4444:0:402:202)
;; WHEN: Mon Jul 25 11:45:15 2011
;; MSG SIZE rcvd: 192