Dynamic animation of character's legs

In my game the player controls each foot of the charecter individually.

My requirement is that in accordance with the input controller, each of the playable character's leg should animate in real-time to indicate the position of the foot. As the player moves the input joystick, the foot moves in accordance with it.

I believe that the perfect solution is an animation that is created on the fly by providing input to the foot joint of the charecter's model.

My quesition is wether or not this is possilbe in Torque?
If yes then how?
If no then is there any other way to solve this problem or is there any other game engine i can use.


I also need collision detection for both feet individually.

Any help will be appreciated.

Thanks