This is a barebones implementation of an IK solver, based on a Unity Example for Blendtrees. It includes repositioning and rerotation of the feet, as well as a collider displacing method, that pushes the character controller's collider upwards when there is no other way to ground both feet.
- Set up your scene and characters (make sure the characters possess a character controller)
- Add the CleanIK script to your characters
- Assign the feet transforms respectively
- Test the scene and adjust foot offset
- Enable ik and rotation