dreamy bobcat
I have this spider that I want to be crawling inside tight hallways, so I need a system that can automatically make sure its legs are in a good position like holding on the wall instead of clipping hence why I chose to try inverse kinematics. The tutorial I had originally found needed an expensive paid asset but I'm sure there are other ways I could accomplish this
junior silo
There are many free inverse kinematics implementations including Unity's own Animation Rigging package
verbal hatch
And if you want to write your own driver but have the leg bones follow a target and pole, FastIKFabrik is good too.
dreamy bobcat
I managed to use unity's tutorial and then just changed it to raycast everywhere