R15 Footplanting system (Inverse Kinematics)

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Pretty nice R15 footplanting system I made for fun, feel free to put it into a local script if you want it to be a bit smoother, but I just chose to make it a server script to save myself the troubles of making replication.

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Works with terrain as well. You can see the feet align with the slope of whatever surface they are resting on.

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Script:

---///Variables\\\---

--Limbs
local Character = script.Parent
local Human = Character:WaitForChild("Humanoid")
local RFoot = Character:WaitForChild("RightFoot")
local LFoot = Character:WaitForChild("LeftFoot")
local Root = Character:WaitForChild("HumanoidRootPart")

--Caches
local TargetCache = Instance.new("Folder", Character)
TargetCache.Name = "Targets"
local IKCache = Instance.new("Folder", Character)
IKCache.Name = "IKControls"


--Target Creation Func
local function CreateTargetFor(Limb : BasePart)
	local Target = Instance.new("Part", TargetCache)
	Target.Anchored = true
	Target.CanCollide = false
	Target.CanQuery = false
	Target.BrickColor = BrickColor.Red()
	Target.Size = Limb.Size
	Target.Transparency = 1
	return Target
end

--Targets
local RTarget = CreateTargetFor(RFoot)
RTarget.Name = "RightTarget"
local LTarget = CreateTargetFor(LFoot)
LTarget.Name = "LeftTarget"


--Control Creation Func
local function CreateIK(Chain, End, Target)
	local Control = Instance.new("IKControl", IKCache)
	Control.ChainRoot = Chain
	Control.EndEffector = End
	Control.Target = Target
	Control.Type = Enum.IKControlType.Transform
	Control.Priority = 999
	Control.Weight = 1
	Control.Enabled = true
	Control.SmoothTime = 0.1
	return Control
end

--Controls
local RControl = CreateIK(Character:WaitForChild("RightUpperLeg"), RFoot, RTarget)
local LControl = CreateIK(Character:WaitForChild("LeftUpperLeg"), LFoot, LTarget)


--Function For Casting
local function getFootCFrame(position, rootLookVector)
	local forward = Vector3.new(rootLookVector.X, 0, rootLookVector.Z).Unit
	local up = Vector3.new(0, 1, 0)
	local right = up:Cross(forward).Unit
	local fixedForward = right:Cross(up).Unit

	return CFrame.fromMatrix(position, right, up)
end


--Raycast Parameters
local RayParams = RaycastParams.new()
RayParams.FilterType = Enum.RaycastFilterType.Exclude
RayParams.FilterDescendantsInstances = {Character}

local Direction = Vector3.new(0, -3, 0)

--Script
local function PlantFeet()
	local LOrigin = Root.Position - Root.CFrame.RightVector * 0.5 - Vector3.new(0, 1, 0)
	local ROrigin = Root.Position + Root.CFrame.RightVector * 0.5 - Vector3.new(0, 1, 0)
	local LRay = workspace:Raycast(LOrigin, Direction, RayParams)
	local RRay = workspace:Raycast(ROrigin, Direction, RayParams)

	if LRay then
		local Position = LRay.Position + Vector3.new(0, LFoot.Size.Y / 2, 0)
		local Normal = LRay.Normal
		local Forward = Root.CFrame.LookVector
		local Right = Normal:Cross(Forward).Unit
		local Up = Normal
		local AlignedForward = Right:Cross(Up).Unit
		LTarget.CFrame = CFrame.fromMatrix(Position, AlignedForward, Up) * CFrame.fromEulerAngles(0, math.rad(-90), 0)
	else
		local position = LOrigin + Direction
		local rootLook = Root.CFrame.LookVector
		LTarget.CFrame = getFootCFrame(position, rootLook) * CFrame.Angles(math.rad(50), math.rad(180), 0)
	end

	if RRay then
		local Position = RRay.Position + Vector3.new(0, RFoot.Size.Y / 2, 0)
		local Normal = RRay.Normal
		local Forward = Root.CFrame.LookVector
		local Right = Normal:Cross(Forward).Unit
		local Up = Normal
		local AlignedForward = Right:Cross(Up).Unit
		RTarget.CFrame = CFrame.fromMatrix(Position, AlignedForward, Up) * CFrame.fromEulerAngles(0, math.rad(-90), 0)
	else
		local position = ROrigin + Direction
		local rootLook = Root.CFrame.LookVector
		RTarget.CFrame = getFootCFrame(position, rootLook) * CFrame.Angles(math.rad(50), math.rad(180), 0)
	end
end


--Smoothing
local TweenService = game:GetService("TweenService")
local Info = TweenInfo.new(0.15)

local R_On = TweenService:Create(RControl, Info, {Weight = 1})
local R_Off = TweenService:Create(RControl, Info, {Weight = 0.001})

local L_On = TweenService:Create(LControl, Info, {Weight = 1})
local L_Off = TweenService:Create(LControl, Info, {Weight = 0.001})

local function Toggle(val : boolean)
	if val == true then
		L_On:Play()
		R_On:Play()
		task.wait(Info.Time)
		LControl.Enabled = true
		RControl.Enabled = true
	else
		L_Off:Play()
		R_Off:Play()
		task.wait(Info.Time)
		LControl.Enabled = false
		RControl.Enabled = false
	end
end

game:GetService("RunService").Heartbeat:Connect(function()
	if Human.MoveDirection == Vector3.zero and Human:GetState() == Enum.HumanoidStateType.Running then
		PlantFeet()
		Toggle(true)
	else
		Toggle(false)
	end
end)
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