i use unity but this question applies for any third person controller or enemy controller.

i need to use foot ik on slopes(any condition and any kind of slope) to place foot on right places. as i considered some important third person games, it seems they only use ik when character is idle and not moving otherwise no ik is applying and leg animations run purely.

i use the same approach and result looks good enough but im looking for applying when character is walking or running.

as i looked, some people disable ik when leg is going up and enable it when its coming down. some other do a raycast from foot bone to the ground to check foot need ik on little distance to ground. but all of these are prototypes and has flaws. can you give me a good approach that works best in all conditions?