public LayerMask ground;

    public float pelvisHeightOffset;
    public float IKGroundCheckDistance;

    Animator animator;
    CharacterController characterController;

    Vector3 leftFootIKPosition;
    Vector3 rightFootIKPosition;
    Quaternion leftFootIKRotation;
    Quaternion rightFootIKRotation;

    void Start()
    {
        characterController = GetComponent<CharacterController>();
        animator = GetComponent<Animator>();
    }

    void Update()
    {
        FeetPositionSolver(animator.GetBoneTransform(HumanBodyBones.RightFoot).position + Vector3.up, ref rightFootIKPosition, ref rightFootIKRotation);
        FeetPositionSolver(animator.GetBoneTransform(HumanBodyBones.LeftFoot).position + Vector3.up, ref leftFootIKPosition, ref leftFootIKRotation);
    }

    private void FeetPositionSolver(Vector3 fromSkyPosition, ref Vector3 feetIKPosition, ref Quaternion feetIkRotation)
    {
        RaycastHit feetOutHit;

        if (Physics.Raycast(fromSkyPosition, Vector3.down, out feetOutHit, IKGroundCheckDistance, ground, QueryTriggerInteraction.Ignore))
        {
            feetIKPosition = fromSkyPosition;
            feetIKPosition.y = feetOutHit.point.y + pelvisHeightOffset;
            feetIkRotation = Quaternion.FromToRotation(Vector3.up, feetOutHit.normal) * transform.rotation;

            return;
        }

        feetIKPosition = Vector3.zero;
    }

    float lastFootPositionY;
    float lastFootPositionY1;

    private void OnAnimatorIK(int layerIndex)
    {
        animator.SetIKRotationWeight(AvatarIKGoal.LeftFoot, animator.GetFloat("LeftFootPlantingRotation"));
        animator.SetIKRotationWeight(AvatarIKGoal.RightFoot, animator.GetFloat("RightFootPlantingRotation"));
        animator.SetIKPositionWeight(AvatarIKGoal.LeftFoot, 1);
        animator.SetIKPositionWeight(AvatarIKGoal.RightFoot, 1);

        MoveFeetToIkPoint(AvatarIKGoal.LeftFoot, leftFootIKPosition, leftFootIKRotation, ref lastFootPositionY);
        MoveFeetToIkPoint(AvatarIKGoal.RightFoot, rightFootIKPosition, rightFootIKRotation, ref lastFootPositionY1);

        MovePelvisHeight();
    }

    public float feetIKPositionSpeed;

    void MoveFeetToIkPoint(AvatarIKGoal foot, Vector3 positionIKHolder, Quaternion rotationIKHolder, ref float lastFootPositionY)
    {
        Vector3 targetIKPosition = animator.GetIKPosition(foot);

        if (positionIKHolder != Vector3.zero)
        {
            targetIKPosition = transform.InverseTransformPoint(targetIKPosition);
            positionIKHolder = transform.InverseTransformPoint(positionIKHolder);

            float yVariable = Mathf.Lerp(lastFootPositionY, positionIKHolder.y, feetIKPositionSpeed);

            targetIKPosition.y += yVariable;

            lastFootPositionY = yVariable;

            targetIKPosition = transform.TransformPoint(targetIKPosition);

            animator.SetIKRotation(foot, rotationIKHolder);
        }

        animator.SetIKPosition(foot, targetIKPosition);
    }

    public float lastPelvisPositionY;
    public float pelvisDampSpeed;

    private void MovePelvisHeight()
    {
        if (rightFootIKPosition == Vector3.zero || leftFootIKPosition == Vector3.zero || lastPelvisPositionY == 0)
        {
            lastPelvisPositionY = animator.bodyPosition.y;
            return;
        }

        float lOffset = leftFootIKPosition.y - transform.position.y;
        float rOffset = rightFootIKPosition.y - transform.position.y;

        float totalOffset = (lOffset < rOffset) ? lOffset : rOffset;

        if (Mathf.Abs(totalOffset) > 0.7f)
        {
            lastPelvisPositionY = animator.bodyPosition.y;
            return;
        }

        Vector3 newPelvisPosition = animator.bodyPosition + Vector3.up * totalOffset;

        newPelvisPosition.y = Mathf.Lerp(lastPelvisPositionY, newPelvisPosition.y, pelvisDampSpeed);

        animator.bodyPosition = newPelvisPosition;

        lastPelvisPositionY = animator.bodyPosition.y;
    }