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IK Foot Placement and Rotation exemple (and need some improvement)

Hey !

Here its me IK Foot Setup :

  • Foot trace fonction
    e9fa931cb71b96eec0d0ffc14b725d052b5272c8.png
  • Update foot trace (in event tick of pawn)
    b0b74279722139d0dc328bf0e1ad62263a50b726.png
  • AnimpBP event graph (InterpSpeed = 20)
    IKFoot_AnimBPEventGraph.png
  • AnimBP anim graph
    82daff9ad47b365086a6cbda86c41bbc8ea2358a.png
  • All socket are in default position of respective bone

Pretty good result :
IK_Result1.png
1448475857-ik-result3.png
IK_Result2.png

Problem :
The highest placed foot is always placed a little lower the ground
IK_ResultProb1.png

http://image.noelshack.com/fichiers/2015/48/1448475847-ik-resultprob2.png

Only when left foot is on the slope, the hip offset has the right foot hit location (is absolute is higher)
IK_ResultProb3.png

Im really sorry for me bad English…