For P2, I've used the lab's auto foot plant finding code,
modified it a little for use without UW classes and
integrated it into Maya as a plug-in.

I also had to go through quite a lot of modifications
of P1 Maya footskatesolver to make it seamlessly work
with the foot plant detector.

I've also made GUIs for both the FootSkateSolver and
the AutoFootPlantDetector.

After spending quite some time on debugging,
I'm convinced that the AutoFootPlantDetector works
properly, but FootSkateSolving without plant position
find still appears to have some bugs that I'm still
working on.

To use this plug in, compile and place the MLL file
in the Maya Plug-In path and copy all the script files
to the Maya Scrip path.
Run Maya and load 'UWPlugIn.mll'

Then you can type

// Gives you a file open dialog that loads BVH files
OpenBVH;

// Gives you a auto foot plant finder dialog that
// lets you set options and find foot plants
FindFootPlants;

// Gives you a foot skate solver dialog that lets
// you set options and do foot skate solving
SolveFootSkate;

And that's it for P2 :)