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

[kxxl@poczta.onet.pl]

Hi,

I have read huge part of this mailing list archive and found many mails about controling avatar movement on landscape by using a capsule and a ray (for example). But i couldn't find a tip for correcting character feet so walk animation follow the terrain. For example how to correct feet position when character are walking down hill ? 

When I have played HL2, I have throw a can and NPC step on it (so  walk animation was corrected by hight of can). How was this achived?

in mailing list archive I have found one thing interesting, but dont know if it can help me with this?:
http://q12.org/pipermail/ode/2003-May/008613.html

Thanks for advices,
KxL