Methodology of Leg Control- Walking on uneven surfaces

Unity Engine
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Hi Guys- I am working on a couple of creatures for our PC version of DrNanoX - and I have a question.

What would be the easiest way to implement a system where an already animated creature with 4 legs (or 2) can crawl up uneven terrain?

I am aware of the Unity example :shock: but I was wondering if there is a simpler solution especially for a create like the one I have here

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Bump

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Isn’t this what you are looking for http://unity3d.com/support/resources/example-projects/3rdpersonshooter
The bootcamp demo also uses the locomotion system, you could take that apart as well.