I've been working for the past four days on inverse kinematics for my game engine. I'm working on a game with a shoestring budget so when the idea of inverse kinematics came up I knew I had to make it such that the 3D models bones would be mathematically changed to appear to be stepping on objects.

This is causing some serious problems with my animation, after it was technically implemented the animations started looking quite bad when the character was wlaking up inclines or steps even though mathematically the stepping was correct and was even smoothly interpolating.

So I was wondering, is it actually possible to get a smooth efficient inverse kinematic system based exclusively on math where bones are changed or is this just a wild goose chase and I should either solve the inverse kinematics problem with animation blending or don't do it at all?