I’ve been having issue with floating feet for a long while, so I figured I’d try adding inverse kinematics and blending it with the animation to place character’s feet onto the ground. Here’s a small video of the working solution.
The solution is not only for feet, it will work on any 3 bones using 1 bone as an effector to be placed and adjusting rotation of 2 ancestor bones to achieve that placement. There’s a bit of a fudge factor which controls blending so that feet are not just glued to the ground and can come off. Pretty happy with the result.
Characters’ feet will now be properly grounded and will not poke through the floor.