metaClient/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Penetration Avoidance.unity

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  text: 'Play the demo, move the Dummy close to the obstacles to observe how the hands
    and feet avoid penetrating into them. See the PenetrationAvoidance component on
    the Dummy.


    Penetration avoidance works by sphere casting from a "safe point" (Raycast From)
    inside the character collider towards the target bones (Raycast To). If there
    is a hit, the target bone will be moved closer to the safe point.'
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