#Animation (5)

Inverse Kinematics and Foot Locking: From Two-Bone IK to Offline Slide Removal

A practical recipe for foot sliding: solve the leg with soft-clamped two-bone IK and toe orientation, lock the toe target during contacts with inertialization, annotate contacts automatically, then use a position-based dynamics-style offline pass to distribute corrections. The key insight is velocity preservation, not sticking to the ground, and the toe—not the heel—is what should be locked.

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