footplant

local runService = game:GetService("RunService")

local player = game:GetService("Players").LocalPlayer
local character = player.Character
local rootPart = character.HumanoidRootPart
local camera = workspace.CurrentCamera

local beam1, beam2, pos1, pos2 = workspace.beam1, workspace.beam2, workspace.pos1, workspace.pos2

local cf = CFrame.new
local ang = CFrame.Angles
local v3 = Vector3.new
local ray = Ray.new
local rad = math.rad
local deg = math.deg

local legToUpdate = true --true==left//false==right
local lastUpdate = 0
local alpha = 0
local direction = v3()
local leftPos = v3()
local rightPos = v3()
local targLeft = v3()
local targRight = v3()
local leftLift = 0
local rightLift = 0

local walkAlpha = 2

local function lerp(n1, n2, perc)
    return n2 + (n1 - n2) * perc
end

local function getVel()
    local vel = rootPart.CFrame:vectorToObjectSpace(rootPart.Velocity)
    local speed = v3(vel.X, 0, vel.Z).magnitude
    return vel, speed
end

local function getDirection()
    local direction = camera.CFrame.lookVector
    local heading = math.atan2(-direction.X, -direction.Z)
    return heading
end

local function updateLegs(leftOrigin, rightOrigin, leftPos, rightPos)
    local d1 = (leftOrigin.p - leftPos).magnitude
    beam1.Size = v3(0.5, 0.5, d1)
    beam1.CFrame = cf(leftOrigin.p, leftPos) * cf(0, 0, -d1/2)
    local d2 = (rightOrigin.p - rightPos).magnitude
    beam2.Size = v3(0.5, 0.5, d2)
    beam2.CFrame = cf(rightOrigin.p, rightPos) * cf(0, 0, -d2/2)
end

local function getNextPosition(origin, xAngle, zAngle, length, lift)
    local start = origin * ang(0, 0, zAngle) * ang(xAngle, 0, 0)
    local ray = ray(start.p, -start.UpVector * length)
    local hit, pos, nor = workspace:FindPartOnRayWithIgnoreList(ray, {character, beam1, beam2, workspace.Ignore})
    return pos + v3(0, lift, 0)
end

game:GetService("RunService").RenderStepped:Connect(function(dt)
    local vel, speed = getVel()
    rootPart.CFrame = cf(rootPart.CFrame.p) * ang(0, getDirection(), 0)
    local leftOrigin, rightOrigin =character.Head.CFrame  * cf(-0.5, -0.5, 0), character.Head.CFrame * cf(0.5, -0.5, 0)
    local hipHeight = 3
    if speed > 0 then --if we are moving
        direction = direction:lerp(vel.Unit, 10*dt)
        if alpha >= 1 then--lastUpdate + delayOf < tick() then
            lastUpdate = tick()
            legToUpdate = not legToUpdate
            alpha = 0
        end
        alpha = alpha + dt*walkAlpha--(tick() - lastUpdate)/(1/character.Humanoid.WalkSpeed)
        local lift = 0.5*math.sin(math.pi * alpha)
        local fba = direction.Z * -16
        local lra = direction.X * 16
        if legToUpdate then
            leftPos = getNextPosition(leftOrigin, rad(fba), rad(lra), hipHeight, lift)
        else
            rightPos = getNextPosition(rightOrigin, rad(fba), rad(lra), hipHeight, lift)
        end
    else
        direction = direction:lerp((rootPart.CFrame.lookVector * v3(1, 0, 1)).unit, 10*dt)
        leftPos = getNextPosition(leftOrigin, rad(10), rad(2), hipHeight, 0)
        rightPos = getNextPosition(rightOrigin, rad(-10), rad(-2), hipHeight, 0)
    end
    targLeft = targLeft:lerp(leftPos, math.min(1, dt*30))
    targRight = targRight:lerp(rightPos, math.min(1, dt*30))
    updateLegs(leftOrigin, rightOrigin, targLeft, targRight)
end)