Implementing a climbing system like Zelda BOTW

So far I have a system of raycasts. One is sent to hit the geometry and get it’s normal. The player is then rotated to this normal so the player is constantly facing the geometry walls. Then I send another raycast in the direction of the players input, and lerp towards this point on the geometry. This system works fine but I recently found a video about the climbing system in the game worlds adrift seen here

. I was wondering if somebody understood how it was implemented and could give a guess as to how it would work in unity as it seems way more stable than mine. Thanks!

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I’m wondering the same

very interested in learning to do something like this myself. Alas I am not finding many good resources out there!