Hello all. I have a little question about using IK with the legs.  I know more or less how to use it, but one problem I have is that it basically locks the foot in place. Which is fine for some uses.

But at the moment, I'm looking for a way to simply prevent the foot from passing through the floor.  Is there any way to have poser make automatic joint adjustments to prevent the foot from going through the floor, at least to some degree. Obviously, if I put the knee far too close to the floor, it's not possible to prevent the lower leg from going through, but then IK doesn't completely lock the foot in place either, some movements will cause it to pull away from the target point.

Basically, is there any way to keep the leg free to move, but have poser attempt to prevent it from passing through the ground ?