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REVERSE FOOT

1. Create a basic skeleton for the leg using GRID SNAP to place the joints.

2. Create the REVERSE FOOT joints starting at the heel using GRID SNAP. You should have 4 in total, name then HeelCon, BallCon, ToeCon, and AnkleCon. (Con = Control)

3. Open the SKELETON / IK HANDLE TOOL / [] (option box) and make sure the CURRENT SOLVER is set to IKRPSOLVER. Close the window.

4. Create an IK handle between the HIP and ANKLE joints. Name it IKANKLE

5. Create an IK Handle between the Ankle joint and the Ball Joint. To do this you will have to isolate the leg joints. In the HOTBOX, choose SHOW / ISOLATE SELECTED / VIEW SELECTED. This will hide everything that is not selected and show everything that is selected.

6. Create another IK Handle between the Ball and Toe joints.

7. Open the HYPERGRAPH. MMB each IK Handle onto their respective Control Joints. ikAnkle to AnkleCon, ikToe to ToeCon, ikBall to BallCon.

8. Create a NURBS CIRCLE. Point snap it back to the ankle joint. Name it FOOTCON. In the HYPERGRAPH, MMB HEELCON node to the FOOTCON node.

9. Now we’re going to add attributes to the FOOTCON node.

10. Make sure you have FOOTCON selected. Goto MODIFY / ADD ATTRIBUTE. Name the first attribute ROLL. Keep the Data type set to Float. Set the Minimum to -5, Maximum to 10, and the Default to 0. Click ADD to add the attribute. (the Minimum setting is for the rollback on the heel, 10 is the roll forward on the ball and 0 is flat on the ground)

11. Open the SET DRIVEN KEY window. Load the FOOTCON into the DRIVER window. Load the HEELCON into the DRIVEN window. Select the ROLL attribute for the FOOTCON node and the ROTATE Y for the HEELCON node and set a key.

12. Select the FOOTCON / ROLL attribute and set it to -5. Select the HEELCON and rotate it to around -30.

13. Select the BALLCON. Load it into the DRIVEN window and select the ROTATE Z. Make sure the FOOTCONs ROLL attribute is set back to 0 and SET KEY.

14. Set the ROLL attribute to around 6. Select the BALLCON node once again and rotate it in the Z axis to a desired height and SET KEY.

15. Set the ROLL attribute for the FOOTCON node to 0. Grab the TOECON node. Set a key.

16. Change the ROLL attribute for the FOOTCON node to around 4. Grab the TOECON node again and rotate it in the Z axis to a desired height. Set a key. Now select the FOOTCON ROLL attribute and with the MMB click and drag in the window to see the foot work.

17. Create a LOCATOR and position it somewhere in front of the knee joint. Name it KneePoleVector. Parent it to the FOOTCON node by selecting the LOCATOR then the FOOTCON node and hit P on the keyboard to parent.

18. Grab the Locator then SHIFT SELECT the IKANKLE HANDLE second, then choose CONSTRAIN / POLE VECTOR. Now when you move the LOCATOR the leg follows it accordingly.

19. Now move the leg bones to the correct position on the leg. Select both top nodes in the hierarchy (HIP and FOOTCON) and move the entire bone structure to their proper place on the leg.

20. Open the DUPLICATE OPTIONS BOX. Make sure GROUP UNDER WORLD, and DUPLICATE UPSTREAM GRAPH are checked (turned on). This will keep all connections currently in the original leg. DUPLICATE it and move it to the opposite leg. Align the Hip joints and Footcon node accordingly.

21. Now go to the HYPERGRAPH. Unparent the HEELCON and KneePoleVector nodes from the FOOTCON node. Unparent the HEELCONS and KNEEPOLEVECTOR nodes from the FOOTCON nodes and select MODIFY / FREEZE TRANSFORMATIONS. Reparent the nodes.

22. Now to organize the joints more clearly choose the HIP JOINT on the left leg and choose MODIFY / PREFIX HIERARCHY NAMES. Place L for Left or R for Right. Click OK and close the window. Now each side has it’s own unique letter to identify which side it’s on.

23. SAVE