Reverse Foot IK
Reverse Foot IK setup has similar idea with Reverse Foot Lock setup but it requires less bones. Number of bone is one of the factors in game making that could affect the game memory, and the programmers can allow a certain limit of joint number you are not happy with, but we gotta live with it 
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Ok, first create 3 IK handles from the 1) hip > ankle, 2) ankle > ball, 3) ball > toe. Name them to ankle_ik, toe_ik and toeend_ik respectively. ikRPsolver is used for the IK handles.
The following steps demonstrate how to create a Reverse Foot method.
A) Group (ctrl+g) the ankle_ik itself and call it ball_grp. Hit “insert” to allow you to move the ball_grp pivot point from origin to the ball joint. This group will control the ball of the foot.
B) Group toe_ik and toeend_ik together and call it toe_grp. Again, hit “insert” and move its pivot point to ball joint. This group will allow you to control the movement of the toe.
C) Now, you can group these 2 groups: toe_grp and ball_grp and name it as toetip_grp. Hit “Insert” and move the pivot point to toe joint, you could control the foot movement from this toe tip group.
D) Finally, group the toetip_grp to become ankle_grp. The pivot point should be on the ankle joint, this is the control of the IK leg.
E) Finally, what you can do is create a controller (called maybe leg_IK_ctrl) that parent constraint the ankle_grp. We can link all the foot controls we just made to this controller leg_IK_ctrl, so add attributes call Ball_roll, Toe, Toe_end. By using Connection Editor in Maya, connect Ball_roll to ball_grp Rotation (in my case is Rotation X), connect Toe to toe_grp Rotate (X?), connect Toe_end to toetip_grp Rotate (Y?). Note that you need to find out what are the Rotation (X?Y?Z?) for the foot setup you created to make the appropriate connections.