My DS did this, drove me mad, I posted on here about it too!
We were very careful not to carry on about it, our approach was to take him to the toilet, clean him up, reiterate that next time he should do his poo on the toilet (and he never did).
I know what you mean about the grotty undies...we always had a bucket of Napisan in the laundry sink with his undies in it and I went through so much Canesten in-wash germ removal stuff.
In the end out and out bribery worked. Chocolate. He was properly TT-d, day and night, poos and wees just before he turned 3.
We told him that if he did a poo on the toilet he could have a square of chocolate.
So the next time he did a poo (in his undies) he asked for a chocolate. We very gently said no, chocolate was only for poos on the toilet. Poor DS, he burst into tears, we took him to the loo, cleaned him up, gave him lots of cuddles and explained again that he could have a chocolate if he did the poo straight into the toilet.
The next day he very anxiously said he needed to do a poo (first time ever, he used to nick off and hide to do the poo in his undies) so I sat him on the loo, stayed with him. He said "I can't do it!" so I told him to just try and fart (lol) and plop! Poo in the loo.
First thing he said was "Can I have a chocolate now?"
Of course I made a huge fuss and he was allowed a chocolate, we rang Daddy at work and told him.
And we never looked back, only had one accident since then and that was just because he didn't quite make it to the loo with enough time to spare.
For about 3 months afterwards every time he did a poo he got a chocolate (so he was getting one every day), he would ask for it straight away. I was a bit worried about what I had started but I started distracting him to see if I could get him to forget or I would "forget". Sometimes he would remember later so I'd give him one then but gradually it got phased out. Now he just takes himself off to the toilet and will call out in a sing song voice "I've done a poo-oo!" and we wipe his little bum for him and away we go, no more chocolate.
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