Procedural Legs Animator

Whether you are building a fully procedural biped, enhancing a traditional humanoid Animator, or expanding upon active ragdoll systems, this package provides the mathematical foundation for grounded, realistic movement.

Core Features:

• Dynamic Gait & Trajectory Prediction: The system reads your character's velocity and angular rotation to intelligently predict where the next foot should land. Steps dynamically widen, shorten, and adjust their cadence based on movement speed.
• Biomechanical Weight Shifting: Powered by the HipBodyController, characters simulate a true Center of Mass. The system uses an Inverted Pendulum model to naturally dip the hips during wide strides and shifts weight laterally over planted feet.
• Dynamic Posture & Contrapposto: Characters naturally lean into their velocity, bank into turns, and tilt on sloped terrain. Built-in Spine Flexibility mathematically counter-rotates the chest and spine to keep the head stable while the pelvis sways.
• Advanced Terrain Adaptation: A robust GroundProbe utilizes customizable raycasting (Straight Down, Origin-to-Foot, or Spherecasts) to detect complex terrain. Feet seamlessly rotate to align with ground normals.
• Seamless Animation Blending: Run the system in Additive Mode to layer procedural foot placement perfectly on top of your existing Animator walk cycles, or disable the Animator entirely to generate rigid, math-driven standing and walking poses.
• Airborne & Hanging States: Characters automatically transition into a dangling, physics-ready hanging pose when falling or jumping off ledges.
• Clean, Curated Custom Inspector: No more inspector bloat. The system features a beautifully crafted, custom editor dashboard that hides complex engine math and exposes only the highest-impact art-direction variables (like Stride Length, Step Height, and Dip Intensity) in organized tabs.
• Optimized Two-Bone Solver: Includes a custom-built, lightweight TwoBoneSolver designed for performance, ensuring your procedural IK calculations run efficiently alongside your gameplay logic.
• Multi-Leg Support: Supports characters with more than two legs, including quadrupeds, insects, spiders, and other multi-legged creatures.

Package Includes:

• Full C# Source Code
• Custom Editor Scripts for streamlined art-direction
• Demo Scene with a configured humanoid setup