Question I can't seem to get my head around Feet IK

I'm controlling my character with a CharacterController.
I found this code which looks great but isn't doing anything to my feet position, I know the IK is working because when I turn it off and on the knees change, but they aren't being told where to go.
I'm using unity 2020.3.1f1 if that means anything.

I'd appreciate any help, thanks!

edit: I should mention my movement script is different, I'm only using the feet ik section.

Code (CSharp):

1. //Copyright Filmstorm (C) 2018-2021 - Movement Controller for Root Motion and built in IK solver
2. using System.Collections;
3. using System.Collections.Generic;
4. using UnityEngine;
5.  
6. //This script requires you to have setup your animator with 3 parameters, "InputMagnitude", "InputX", "InputZ"
7. //With a blend tree to control the inputmagnitude and allow blending between animations.
8. [RequireComponent(typeof(CharacterController))]
9. public class MovementInput : MonoBehaviour
10. {
11.     #region Variables
12.     private float InputX; //Left and Right Inputs
13.     private float InputZ; //Forward and Back Inputs
14.     private Vector3 desiredMoveDirection; //Vector that holds desired Move Direction
15.     private bool blockRotationPlayer = false; //Block the rotation of the player?
16.     [Range(0,0.5f)] public float desiredRotationSpeed = 0.1f; //Speed of the players rotation
17.     public Animator anim; //Animator
18.     private float Speed; //Speed player is moving
19.     [Range(0,1f)] public float allowPlayerRotation = 0.1f; //Allow player rotation from inputs once past x
20.     public Camera cam; //Main camera (make sure tag is MainCamera)
21.     public CharacterController controller; //Character Controller, auto added on script addition
22.     private bool isGrounded; //is Grounded - work in progress
23.  
24.     private Vector3 rightFootPosition, leftFootPosition, leftFootIkPosition, rightFootIkPosition;
25.     private Quaternion leftFootIkRotation, rightFootIkRotation;
26.     private float lastPelvisPositionY, lastRightFootPositionY, lastLeftFootPositionY;
27.  
28.     [Header("Feet Grounder")]
29.     public bool enableFeetIk = true;
30.     [Range(0, 2)] [SerializeField] private float heightFromGroundRaycast = 1.14f;
31.     [Range(0, 2)] [SerializeField] private float raycastDownDistance = 1.5f;
32.     [SerializeField] private LayerMask environmentLayer;
33.     [SerializeField] private float pelvisOffset = 0f;
34.     [Range(0, 1)] [SerializeField] private float pelvisUpAndDownSpeed = 0.28f;
35.     [Range(0, 1)] [SerializeField] private float feetToIkPositionSpeed = 0.5f;
36.  
37.     public string leftFootAnimVariableName = "LeftFootCurve";
38.     public string rightFootAnimVariableName = "RightFootCurve";
39.  
40.     public bool useProIkFeature = false;
41.     public bool showSolverDebug = true;
42.  
43.  
44.  
45.     [Header("Animation Smoothing")]
46.     [Range(0, 1f)]
47.     public float HorizontalAnimSmoothTime = 0.2f; //InputX dampening
48.     [Range(0, 1f)]
49.     public float VerticalAnimTime = 0.2f; //InputZ dampening
50.     [Range(0, 1f)]
51.     public float StartAnimTime = 0.3f; //dampens the time of starting the player after input is pressed
52.     [Range(0, 1f)]
53.     public float StopAnimTime = 0.15f; //dampens the time of stopping the player after release of input
54.  
55.  
56.     private float verticalVel; //Vertical velocity -- currently work in progress
57.     private Vector3 moveVector; //movement vector -- currently work in progress
58.  
59.     #endregion
60.  
61.     #region Initialization
62.     // Initialization of variables
63.     void Start()
64.     {
65.         anim = this.GetComponent<Animator>();
66.         cam = Camera.main;
67.         controller = this.GetComponent<CharacterController>();
68.  
69.         if (anim == null)
70.             Debug.LogError("We require " + transform.name + " game object to have an animator. This will allow for Foot IK to function");
71.     }
72.  
73.  
74.     // Update is called once per frame
75.     void Update()
76.     {
77.         InputMagnitude();
78.      
79.     }
80.  
81.     #endregion
82.  
83.  
84.     #region PlayerMovement
85.  
86.     void PlayerMoveAndRotation()
87.     {
88.         InputX = Input.GetAxis("Horizontal");
89.         InputZ = Input.GetAxis("Vertical");
90.  
91.         var camera = Camera.main;
92.         var forward = cam.transform.forward;
93.         var right = cam.transform.right;
94.  
95.         forward.y = 0f;
96.         right.y = 0f;
97.  
98.         forward.Normalize();
99.         right.Normalize();
100.  
101.         desiredMoveDirection = forward * InputZ + right * InputX;
102.  
103.         if (blockRotationPlayer == false)
104.         {
105.             transform.rotation = Quaternion.Slerp(transform.rotation, Quaternion.LookRotation(desiredMoveDirection), desiredRotationSpeed);
106.         }
107.     }
108.  
109.     void InputMagnitude()
110.     {
111.         //Calculate Input Vectors
112.         InputX = Input.GetAxis("Horizontal");
113.         InputZ = Input.GetAxis("Vertical");
114.  
115.         anim.SetFloat("InputZ", InputZ, VerticalAnimTime, Time.deltaTime * 2f);
116.         anim.SetFloat("InputX", InputX, HorizontalAnimSmoothTime, Time.deltaTime * 2f);
117.  
118.         //Calculate the Input Magnitude
119.         Speed = new Vector2(InputX, InputZ).sqrMagnitude;
120.  
121.         //Physically move player
122.         if (Speed > allowPlayerRotation)
123.         {
124.             anim.SetFloat("InputMagnitude", Speed, StartAnimTime, Time.deltaTime);
125.             PlayerMoveAndRotation();
126.         }
127.         else if (Speed < allowPlayerRotation)
128.         {
129.             anim.SetFloat("InputMagnitude", Speed, StopAnimTime, Time.deltaTime);
130.         }
131.     }
132.  
133.     #endregion
134.  
135.  
136.     #region FeetGrounding
137.  
138.     /// <summary>
139.     /// We are updating the AdjustFeetTarget method and also find the position of each foot inside our Solver Position.
140.     /// </summary>
141.     private void FixedUpdate()
142.     {
143.         if(enableFeetIk == false) { return; }
144.         if(anim == null) { return; }
145.  
146.         AdjustFeetTarget(ref rightFootPosition, HumanBodyBones.RightFoot);
147.         AdjustFeetTarget(ref leftFootPosition, HumanBodyBones.LeftFoot);
148.  
149.         //find and raycast to the ground to find positions
150.         FeetPositionSolver(rightFootPosition, ref rightFootIkPosition, ref rightFootIkRotation); // handle the solver for right foot
151.         FeetPositionSolver(leftFootPosition, ref leftFootIkPosition, ref leftFootIkRotation); //handle the solver for the left foot
152.  
153.     }
154.  
155.     private void OnAnimatorIK(int layerIndex)
156.     {
157.         if(enableFeetIk == false) { return; }
158.         if(anim == null) { return; }
159.  
160.         MovePelvisHeight();
161.  
162.         //right foot ik position and rotation -- utilise the pro features in here
163.         anim.SetIKPositionWeight(AvatarIKGoal.RightFoot, 1);
164.  
165.         if(useProIkFeature)
166.         {
167.             anim.SetIKRotationWeight(AvatarIKGoal.RightFoot, anim.GetFloat(rightFootAnimVariableName));
168.         }
169.  
170.         MoveFeetToIkPoint(AvatarIKGoal.RightFoot, rightFootIkPosition, rightFootIkRotation, ref lastRightFootPositionY);
171.  
172.         //left foot ik position and rotation -- utilise the pro features in here
173.         anim.SetIKPositionWeight(AvatarIKGoal.LeftFoot, 1);
174.  
175.         if (useProIkFeature)
176.         {
177.             anim.SetIKRotationWeight(AvatarIKGoal.LeftFoot, anim.GetFloat(leftFootAnimVariableName));
178.         }
179.  
180.         MoveFeetToIkPoint(AvatarIKGoal.LeftFoot, leftFootIkPosition, leftFootIkRotation, ref lastLeftFootPositionY);
181.     }
182.  
183.     #endregion
184.  
185.  
186.  
187.     #region FeetGroundingMethods
188.  
189.     /// <summary>
190.     /// Moves the feet to ik point.
191.     /// </summary>
192.     /// <param name="foot">Foot.</param>
193.     /// <param name="positionIkHolder">Position ik holder.</param>
194.     /// <param name="rotationIkHolder">Rotation ik holder.</param>
195.     /// <param name="lastFootPositionY">Last foot position y.</param>
196.     void MoveFeetToIkPoint (AvatarIKGoal foot, Vector3 positionIkHolder, Quaternion rotationIkHolder, ref float lastFootPositionY)
197.     {
198.         Vector3 targetIkPosition = anim.GetIKPosition(foot);
199.  
200.         if(positionIkHolder != Vector3.zero)
201.         {
202.             targetIkPosition = transform.InverseTransformPoint(targetIkPosition);
203.             positionIkHolder = transform.InverseTransformPoint(positionIkHolder);
204.  
205.             float yVariable = Mathf.Lerp(lastFootPositionY, positionIkHolder.y, feetToIkPositionSpeed);
206.             targetIkPosition.y += yVariable;
207.  
208.             lastFootPositionY = yVariable;
209.  
210.             targetIkPosition = transform.TransformPoint(targetIkPosition);
211.  
212.             anim.SetIKRotation(foot, rotationIkHolder);
213.         }
214.  
215.         anim.SetIKPosition(foot, targetIkPosition);
216.     }
217.     /// <summary>
218.     /// Moves the height of the pelvis.
219.     /// </summary>
220.     private void MovePelvisHeight()
221.     {
222.  
223.         if(rightFootIkPosition == Vector3.zero || leftFootIkPosition == Vector3.zero || lastPelvisPositionY == 0)
224.         {
225.             lastPelvisPositionY = anim.bodyPosition.y;
226.             return;
227.         }
228.  
229.         float lOffsetPosition = leftFootIkPosition.y - transform.position.y;
230.         float rOffsetPosition = rightFootIkPosition.y - transform.position.y;
231.  
232.         float totalOffset = (lOffsetPosition < rOffsetPosition) ? lOffsetPosition : rOffsetPosition;
233.  
234.         Vector3 newPelvisPosition = anim.bodyPosition + Vector3.up * totalOffset;
235.  
236.         newPelvisPosition.y = Mathf.Lerp(lastPelvisPositionY, newPelvisPosition.y, pelvisUpAndDownSpeed);
237.  
238.         anim.bodyPosition = newPelvisPosition;
239.  
240.         lastPelvisPositionY = anim.bodyPosition.y;
241.  
242.     }
243.  
244.     /// <summary>
245.     /// We are locating the Feet position via a Raycast and then Solving
246.     /// </summary>
247.     /// <param name="fromSkyPosition">From sky position.</param>
248.     /// <param name="feetIkPositions">Feet ik positions.</param>
249.     /// <param name="feetIkRotations">Feet ik rotations.</param>
250.     private void FeetPositionSolver(Vector3 fromSkyPosition, ref Vector3 feetIkPositions, ref Quaternion feetIkRotations)
251.     {
252.         //raycast handling section
253.         RaycastHit feetOutHit;
254.  
255.         if (showSolverDebug)
256.             Debug.DrawLine(fromSkyPosition, fromSkyPosition + Vector3.down * (raycastDownDistance + heightFromGroundRaycast), Color.yellow);
257.  
258.         if (Physics.Raycast(fromSkyPosition, Vector3.down, out feetOutHit, raycastDownDistance + heightFromGroundRaycast, environmentLayer))
259.         {
260.             //finding our feet ik positions from the sky position
261.             feetIkPositions = fromSkyPosition;
262.             feetIkPositions.y = feetOutHit.point.y + pelvisOffset;
263.             feetIkRotations = Quaternion.FromToRotation(Vector3.up, feetOutHit.normal) * transform.rotation;
264.  
265.             return;
266.         }
267.  
268.         feetIkPositions = Vector3.zero; //it didn't work :(
269.  
270.     }
271.     /// <summary>
272.     /// Adjusts the feet target.
273.     /// </summary>
274.     /// <param name="feetPositions">Feet positions.</param>
275.     /// <param name="foot">Foot.</param>
276.     private void AdjustFeetTarget (ref Vector3 feetPositions, HumanBodyBones foot)
277.     {
278.         feetPositions = anim.GetBoneTransform(foot).position;
279.         feetPositions.y = transform.position.y + heightFromGroundRaycast;
280.  
281.     }
282.  
283.     #endregion
284.  
285.  
286. }
287.