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Terrain character collision

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Now i have an animated model with skinned mesh and terrain created by a height map. I'm trying to change my model's feet position according to height. As far as i found out i can do it with inverse kinematics. So my questions are (there are few of them :)). Are there other ways or ik is way to go? And i think to use ik your model should have ik information does every skinned mesh model has ik information? Lastly are there any tutorials or any books about this problem?
Thanks for replies.

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