Inverse Kinematics—February 6th

Between January 27th, and The Creative Jam, I got a new piece of animation functionality working on the monster. Now that I have stopped working with rigify, I am able to use Unreal Engine's built in Inverse Kinematics functionality.
I initially ran into several problems with the native IK Solver, as my skeleton had three leg bones, rather than two. However I discovered the FABRIK Solver for 3+ bone IK which allowed me to easily place the foot at a given transform.
After spending several days getting the FABRIK node working, I realized that the monster's feet were not lifting off the ground when it stepped. I created an equation to determine how much alpha should be fed to the FABRIK Node (how much power the solver has over the feet) I made a sine wave that oscillates based upon how much of the step animation has played. This yields and alpha that changes over time, allowing the monster to place its feet on uneven terrain, while still lifting them in order to walk.