I’ve been working on a ratchet project for a very long time and have stumbled upon the IK system. And i’ve been trying to think of all the possible and optimal solution. Even the easier way like Find look at rotation and getting angles from 2 vectors (In my case is From a socket location attached to the upper foot and to the impact point) I’ve tried to rotate it based on the angle of the surfaces, but i didn’t think about the different heights and stuff.

This is what i’m going for.

Is there any optimal way to replicate something like this, i’m really hoping that someone can help me with this i’d be very appreciated.