Phantom Forces IK

Hello, so I’ve came around seeing many R6 footplanting modules such as this one:
R6 IK module

I was wondering how I go about recreating something similar to this video’s
DevDump R6 Footplanting

I could not wrap my head around this with the limited knowledge I have, Could someone show me an example or show me how to recreate the foot planting seen in the video that is also animation compatible.
Thanks!

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You’d probably have to shoot two raycasts for each foot. Then when you the ray gets hit, you find the position where it met something. (Raycast.Position). Then you use the IK system to point that leg towards the raycast position.