[ODE] IK character place feet on the ground/dynamic objects

[kxxl@poczta.onet.pl]

Jon Watte (ODE) wrote:
> The IK you will be using is run-time IK in the engine. Each rendered 
> frame, you cast from the foot into terrain, and run a two-bone IK on 
> the hip/knee to place the foot where it should go. Then adjust the 
> ankle by the counter-rotation of the knee.

so at each rendered frame I have to correct foot IK effector to maintain distance between foot and ground from oryginal animation? 
Witch solution will give better look motion:
- each render frame correction
- correction counted at start of next step and applied with a weight on oryginal animation (start if next step CorrectionWeight=0...with interpolation to end of step CorrectionWeight=1.0) ?

Thanks,
KxL