A four-joint IK/FK leg with a reverse foot rig, heel and toe pivots, and a foot roll slider.
What it does
SimpleIK, plus a full reverse-foot rig
IKLeg builds on SimpleIK's hip-knee-ankle chain and adds a fourth ball joint plus a full reverse-foot rig.
Everything SimpleIK gives: FK controls, IK/FK switch, pole vector
A floor-level foot control
Separate heel and toe controls
A foot_roll slider
foot_roll lifts the heel and rolls onto the toe while keeping the ball and toe planted.
When to use it
Any leg that plants on the ground
hip-knee-ankle-ball
Any four-joint leg chain that needs to plant on the ground, like a game character's leg.
SimpleIK
The reverse-foot stack has nothing to attach to without a ball joint.
Mind the roll axis
foot_roll_axis depends on your skeleton's orientation convention; the wrong axis rolls or yaws instead of lifting the heel.
Toe-wiggle stays posable
The toe-wiggle ball control stays visible and posable in both IK and FK mode.
Separate heel & toe points
Heel and toe guide positions need to be genuinely separate points, not stacked on top of each other.