This is a barebones implementation of an IK solver, based on a Unity Example for Blendtrees. It includes repositioning and rerotation of the feet, as well as a collider displacing method, that pushes the character controller's collider upwards when there is no other way to ground both feet.
The repo is rather unorganized, so focus on the centerpiece Assets/Scripts/CleanIK.cs!
- Set up your scene and characters (make sure the characters possess a character controller)
- Add the CleanIK script to your characters
- Assign the feet transforms respectively
- Test the scene and adjust foot offset
- Enable ik and rotation
