Stopping objects going through other objects?

I am making a walkcycle and dont want my charcters feet accidentally going through ground. Is there a modifier or something that prevents one objects going through another? I thought I read somewhere there was such a feature…

Nope, even the dynamic simulator has trouble with mesh interpenetration. You have to keyframe it yourself so it does not go through another mesh.

Well, actually, if your ground is a plan (i mean it has no hills) you can add a constraint ‘floor’ to the object (your character). jest be sure your character’s center is at the feet.
Jest press f7 and then ‘Add Constraint’ ->‘floor’.

it will not help you to make every step right, but if you already have a ‘Walk’ action, it will help you not to move your character underground.