Fully procedural biped system. Whether you're creating an active ragdoll system or enhancing your animations, this package provides the mathematical foundation for grounded, realistic movement.Supports all render pipelines, just use Unity's built-in material converters.Unity 2022 support.Unity 6 Support.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 CodeCustom Editor Scripts for streamlined art-directionDemo Scene with a configured humanoid setupAI was used for general logic and code refactoring.
