Unity Foot Ik For Terrain Update

So i added couple of checks to the feet ik script to turn it off when it's not needed and added a better lerp to keep the animation in mind
now it's more optimized as the raycast will run for 2-3 frames and stop , in some tricky surface it will run for a second or 2 then stops , the ik script stops as soon as you move or jump , roll ... ect