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

[kxxl@poczta.onet.pl]

Jon Watte (ODE) wrote:

> 1) Use Inverse Kinematics ("IK") to a point found using a ray cast per 
> foot.

I make some test in 3d animation program to see if it will work. I have raycast at start of next step at possition where i will be planted. Get the offset correction, correct end of the step with the offset. Animation look's almost ok, at the middle of step a foot goes into a obstacle. Here I present this:

http://www.users.pjwstk.edu.pl/~s2562/ray%20feet%20correction.jpg

It becouse of interpolation between start and end of step, which i can manualy correct, but how to do this by algorytm? Or i just have to live with it?

Regards,
KxL