IK foot locking

IK is a presentation pose correction after the authoritative root/body movement and source animation pose.

Contact schema

Select an available contact marker: toe when present/useful, otherwise a foot/ankle marker or project-defined sole/contact point. Do not require a toe joint on every rig.

Contact detection may combine relative velocity, height/distance, animation phase and ground probe with authored hysteresis/debounce. Thresholds and durations are project/scale data.

For a moving or rotating support, store the lock anchor in support-local or otherwise stable reference space and evaluate actor/contact motion relative to that surface so the foot follows it without world-space skating.

Rules