Reverse Foot: 4 Pivots (Heel, Yaw, Toe, Ball)

• Construction:

  • Heel > Ball Pivot > Toe > Ball Lift > IK effector
    • Heel = 6 DoF
    • Ball Pivot = yaw only
    • Toe = rotate only
    • Ball Lift = pitch, roll only
  • Toe orient-contstrains skeleton toe
  • Ball Lift orient-constrains skeleton ankle

• Pro:

  • Better takeoff from toes
  • Good foot-flex on takeoff

• Con:

  • Even worse control overlap
  • Requires very exact handoffs
  • Tricky interface
  • Poorly suited to uneven ground plane