I taught my physics based ragdoll to walk using procedural animation, and all it took was two weeks of effort, and my sanity.
Main Channel ► @ryegamedev
Patreon ► https://www.patreon.com/RyeGameDev
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Resources:
https://weaverdev.io/projects/bonehead-procedural-animation/
https://www.youtube.com/watch?v=Wx1s3CJ8NHw
https://www.youtube.com/watch?v=acMK93A-FSY
