// The custom constructor
public Foot (IKSolver solver, Transform transform) {
this.solver = solver;
this.transform = transform;
this.leg = null;
rotation = transform.rotation;
}
// Set the effector positionOffset for the foot
private void SetLegIK(IKEffector effector, Grounding.Leg leg)
{
effector.positionOffset += (leg.IKPosition - (effector.bone.position + effector.positionOffset)) * weight;
effector.bone.rotation = Quaternion.Slerp(Quaternion.identity, leg.rotationOffset, weight) * effector.bone.rotation;
}