Peaks of Yore - Automatic Foot Placement using IK
Available in better format here:
https://forums.tigsource.com/index.php?topic=68652.msg1424826#msg1424826
A solid pair of legs.
I threw together a quick rig with a few IK constraints to account for correct joint movement. The right and left knee bones floating in front of the legs would work as targets for the legs IK bend goals.
The system required a lot of tweaking distances that the foot should stay in place.
The system also makes sure to move the feet out of the way if they're blocking the player's face.
The green dots are where the last positions of the placed feet were, so I can check the distance between those, and the current desired foot positions.
When the player is not in range of the rock face while still holding on, the feet will move back and dangle under the player.
Under the hood, this looks extremely awkward but whatever isn't visible I can pretty much get away with.
Final result.
With more tweaking, they have started to look pretty decent.
I also tweaked the knees and feet for more natural shifting to prevent clipping and avoid bone-breaking angles while on the wall.