2009

Overlapping chains make the toe stick to the ground
Don't try to overlap chains with different kinds of IK solvers or you might get
unpredictable results.
Creating Control Objects
To create control objects to animate the goals, create dummies, points, splines
or other objects near the goal, then link the goal to the control object. For
example in a human leg, you might have a goal at the ankle, ball of the foot,
and the toe. You then create three splines under the foot, one for the heel,
one for the ball and one for the toe. Link each goal to each spline, then you
can animate the goals using these splines. You could also link the splines
together, so that the rotation of the toe is controlled by the movement of the
heel.
Besides hierarchical linkage, you can now use the new Constraint system in
conjunction with IK solvers. You could apply any of the constraints to create
a relationship between the goals or bones and other objects. The goal could
be position constrained to a dummy which is moved. Or you could create
Inverse Kinematics (IK) | 3395