CVR Leg

Procedural leg used for spider/walker creatures and vehicles. The component spawns a Final IK CCDIK solver on the same GameObject, takes a chain of bones as input, drives foot placement via raycast, and applies holding force to a linked Rigidbody. Pairs with CVR Movement Driver for multi-leg creatures.

Setup properties

Segments

Ordered list of Transforms — the IK chain from hip to foot. Added to the CCDIK solver on Awake.

Has Foot

When enabled, the last entry in Segments is treated as a foot and its rotation is re-aligned to the ground surface after IK runs.

Foot Thickness

Offset applied along the foot’s up-axis so the IK target sits above the ground by this amount.

Layer Mask

LayerMask used by the step raycast. Typically “Default” plus the floor layers.

Linked Rigid Body

Rigidbody the leg supports (and whose velocity it samples for step anticipation).

Force + stepping

Leg Force

Maximum upward force applied to the linked Rigidbody when the leg is grounded and not stepping. Default 10000.

Step Area Offset

Vector from the leg root to the ideal resting foot position (in local space). Used both as the support raycast direction and as the default foot location. Default Vector3.down.

Step Area Radius

Radius around the step area center within which the foot may rest. If the IK target drifts outside this, a new step is triggered.

Step Speed

Multiplier for step progress (higher = faster step animation). Default 5.

Step Height

Vertical apex of the step animation in meters. The step arc is multiplied by Y Offset.

Y Offset

AnimationCurve sampled between 0 (start of step) and 1 (end of step); multiplied by Step Height to produce the arc of each step. The Awake override replaces the serialized curve with (0,0) (0.5,1) (1,0) by default.

Min Delay

Minimum time between steps on this leg, in seconds. Default 0.2.

Foot Rotation Speed

Slerp speed for aligning the foot to the ground normal after each frame of IK. Default 10.

Speed Compensation Factor

Scales the linked Rigidbody’s velocity when choosing the next step target, so fast-moving legs plant ahead. Default 0.1.

Coordination with other legs

Opposit Side

A leg that should never step simultaneously with this one.

Neighbour A, Neighbour B

Legs that also block stepping while they step.

Bipedal Mode

When enabled, also triggers a step if the IK target has drifted outside 25% of Step Area Radius from its target, giving humanoid legs a tighter gait.

External target mode

Use Target Location

When enabled, disables the automatic step system; the leg reads its IK target from Input Target Location instead.

Input Target Location

External transform used as the IK target when Use Target Location is on. Typically driven by an animation.

Output Target Location

Optional transform that mirrors the current IK target every frame, useful for tethering visual effects to the foot.

Public API

Member	Description
`isStepping`	True while the step coroutine is active.
`ApplyForce(rb)`	Called by CVR Movement Driver to apply the PID support force to the linked Rigidbody.
`UpdateIK(velocity)`	Runs each `FixedUpdate`; determines whether a new step should be started.
`SetUseTargetLocation(bool)`	Runtime toggle for Use Target Location.
`IsFootOnGround()`	True when a step has finished and the foot is resting.

Source

CVR-GameFiles/ABI.CCK.Components/CVRLeg.cs