Okay, let's refine the Roblox balancing code to feel more dynamic and human-like, drawing inspiration from physics engines like Euphoria. We'll focus on:
Here's the improved code:
How to Use:
BALANCE_*, STEP_*, TORSO_*, ARM_* values) to achieve the desired feel. This requires experimentation! Lower responsiveness values generally lead to softer, more "euphoric" movements, while higher values make it stiffer.This improved version should provide a more dynamic and reactive balancing behavior, closer to the feel you're looking for. Remember that achieving a true Euphoria-like simulation is very complex, but this moves significantly in that direction compared to the original script.
You're right! That's a classic problem in active balancing. The stepping foot needs to intelligently place itself not just based on the center of mass lean, but also considering the position of the other foot to maintain a stable stance and avoid tripping.
Let's adjust the updateActiveBalance function, specifically the step target calculation, to enforce the desired stance width relative to the stationary foot.
lua -- ============================================================ -- ADVANCED ACTIVE BALANCING LOGIC (Predictive Stepping) -- ============================================================ local function updateActiveBalance(dt) stepCooldown = math.max(0, stepCooldown - dt)
local leftFoot = character:FindFirstChild("LeftFoot")
local rightFoot = character:FindFirstChild("RightFoot")
if not leftFoot or not rightFoot or not rootPart or not upperTorso then return end
-- Calculate key vectors and positions
local com = calculateSmoothedCenterOfMass()
local leftPos = leftFoot.Position
local rightPos = rightFoot.Position
local avgFootPos = (leftPos + rightPos) / 2
local groundY = math.min(leftPos.Y, rightPos.Y) -- Use lowest foot as ground reference
-- Character's local XZ plane directions
local rootCF = rootPart.CFrame
local forwardXZ = (rootCF.LookVector * Vector3.new(1, 0, 1)).Unit
local rightXZ = (rootCF.RightVector * Vector3.new(1, 0, 1)).Unit
-- Calculate COM offset relative to average foot position (support base center)
local comXZ = Vector3.new(com.X, 0, com.Z)
local avgFootXZ = Vector3.new(avgFootPos.X, 0, avgFootPos.Z)
local offsetVector = comXZ - avgFootXZ
-- Predict future offset based on current velocity
local velocityXZ = rootPart.AssemblyLinearVelocity * Vector3.new(1, 0, 1)
local predictedOffset = offsetVector + velocityXZ * BALANCE_VelocityPredictionFactor
-- Project predicted offset onto character's forward/right axes
local leanForward = predictedOffset:Dot(forwardXZ)
local leanRight = predictedOffset:Dot(rightXZ)
-- Update active arm balancing based on lean
updateArmBalancing(leanRight, leanForward, dt)
-- === STEP EXECUTION (If currently stepping) ===
if steppingFootName then
local footPart = character:FindFirstChild(steppingFootName)
if footPart and stepTargetPosition then
stepProgress = math.min(stepProgress + dt / STEP_DURATION, 1)
-- Use SmoothStep for easing (starts slow, accelerates, ends slow)
local easeAlpha = stepProgress * stepProgress * (3 - 2 * stepProgress)
-- Calculate foot position along the step arc
-- Get the starting position from the attachment's initial world position if possible
local stepConstraint = physicsConstraints[steppingFootName .. "_BalanceStep"]
local startPos = footPart.Position -- Fallback to current position if constraint/attachment not ready
if stepConstraint and stepConstraint.Attachment0 then
-- Ideally, store the start position when the step begins
-- For now, lerping from current position might cause slight drift, but is simpler
-- startPos = stepConstraint.Attachment0.WorldPosition -- This might be offset from foot center
end
local currentTargetPos = startPos:Lerp(stepTargetPosition, easeAlpha)
local arcHeight = math.sin(stepProgress * math.pi) * BALANCE_LiftHeight -- Sine curve for lift
currentTargetPos = currentTargetPos + Vector3.new(0, arcHeight, 0)
-- Update the AlignPosition constraint target
if stepConstraint then
stepConstraint.Position = currentTargetPos
stepConstraint.Responsiveness = BALANCE_StepResponsiveness * (1 - easeAlpha * 0.5) -- Softer landing
end
-- Check for step completion
local distToTargetXZ = (footPart.Position * Vector3.new(1,0,1) - stepTargetPosition * Vector3.new(1,0,1)).Magnitude
local isBalancedEnough = math.abs(leanForward) < (BALANCE_LeanThreshold_FB * 0.7) and math.abs(leanRight) < (BALANCE_LeanThreshold_LR * 0.7)
-- Completion condition: Reached target OR step timer finished AND reasonably balanced
if distToTargetXZ < STEP_COMPLETION_DISTANCE or (stepProgress >= 1 and isBalancedEnough) then
-- Step finished
if stepConstraint then stepConstraint.Enabled = false end
lastSteppedFoot = steppingFootName
steppingFootName = nil
stepTargetPosition = nil
stepProgress = 0
stepCooldown = isStumbling and STUMBLE_COOLDOWN_TIME or STEP_COOLDOWN_TIME
isStumbling = false
-- Dampen arm swing
local rightArmAV = physicsConstraints["RightUpperArm_Swing"]
local leftArmAV = physicsConstraints["LeftUpperArm_Swing"]
if rightArmAV then rightArmAV.AngularVelocity = rightArmAV.AngularVelocity * 0.5 end
if leftArmAV then leftArmAV.AngularVelocity = leftArmAV.AngularVelocity * 0.5 end
-- Check if step timer finished but still unbalanced (might need another step)
elseif stepProgress >= 1 and not isBalancedEnough then
-- Mark as stumbling to allow a quick follow-up step
isStumbling = true
-- Finish current step logic, but set short cooldown
if stepConstraint then stepConstraint.Enabled = false end
lastSteppedFoot = steppingFootName
steppingFootName = nil
stepTargetPosition = nil
stepProgress = 0
stepCooldown = STUMBLE_COOLDOWN_TIME -- Allow immediate next step check
end
else
-- Foot missing or target lost? Cancel step
steppingFootName = nil
stepTargetPosition = nil
stepProgress = 0
isStumbling = false
end
updateTorsoCorrection(dt)
return
end
-- === STEP DECISION (If not currently stepping and cooldown is over) ===
if stepCooldown > 0 then
updateTorsoCorrection(dt)
return
end
local needsStepFB = math.abs(leanForward) > BALANCE_LeanThreshold_FB
local needsStepLR = math.abs(leanRight) > BALANCE_LeanThreshold_LR
if needsStepFB or needsStepLR then
-- Determine which foot to step with
local footToStepName = (lastSteppedFoot == "LeftFoot") and "RightFoot" or "LeftFoot"
local footToStepPart = character:FindFirstChild(footToStepName)
local stationaryFootPart = (footToStepName == "LeftFoot") and rightFoot or leftFoot
if not footToStepPart or not stationaryFootPart then return end
steppingFootName = footToStepName
stepProgress = 0
-- *** MODIFIED TARGET CALCULATION ***
-- 1. Calculate the required step vector based on lean prediction
local leanMagnitude = predictedOffset.Magnitude
local requiredStepVector = predictedOffset.Unit * math.clamp(
(leanMagnitude - math.min(BALANCE_LeanThreshold_FB, BALANCE_LeanThreshold_LR)) * BALANCE_StepDistanceFactor,
0.1, -- Minimum step distance
STEP_MAX_REACH -- Maximum step distance
)
local requiredStepForward = requiredStepVector:Dot(forwardXZ)
local requiredStepRight = requiredStepVector:Dot(rightXZ)
-- 2. Determine the target lateral position relative to the STATIONARY foot
local stationaryFootPosXZ = stationaryFootPart.Position * Vector3.new(1, 0, 1)
local lateralStepSign = (footToStepName == "LeftFoot") and -1 or 1
-- Aim for the desired stance width away from the stationary foot, in the correct lateral direction
local targetLateralOffset = rightXZ * lateralStepSign * BALANCE_StanceWidth
-- 3. Combine stationary foot position, desired lateral offset, and required forward step
local targetXZ = stationaryFootPosXZ + targetLateralOffset + forwardXZ * requiredStepForward
-- 4. (Optional Sanity Check) Prevent stepping too far laterally if not needed
-- If the required lateral step is small, don't force the full stance width excessively?
-- local actualLateralStepNeeded = rightXZ * requiredStepRight
-- if actualLateralStepNeeded.Magnitude < BALANCE_StanceWidth * 0.5 then
-- targetXZ = stationaryFootPosXZ + actualLateralStepNeeded + forwardXZ * requiredStepForward
-- end
-- Let's stick with the simpler version first (forcing stance width)
-- 5. Find ground height at the calculated target XZ location
local targetGroundY = findGroundY(Vector3.new(targetXZ.X, com.Y, targetXZ.Z)) or groundY
stepTargetPosition = Vector3.new(targetXZ.X, targetGroundY + 0.1, targetXZ.Z) -- Target slightly above ground
-- *** END OF MODIFIED TARGET CALCULATION ***
-- Activate/Update the AlignPosition constraint for the step
local constraintName = steppingFootName .. "_BalanceStep"
local alignPos = physicsConstraints[constraintName]
if not alignPos then
alignPos = Instance.new("AlignPosition")
alignPos.Name = constraintName
alignPos.Mode = Enum.PositionAlignmentMode.OneAttachment
local stepAtt = createConstraintAttachment(footToStepPart, "BalanceStepAtt")
-- stepAtt.Position = Vector3.new(0, -footToStepPart.Size.Y/2 * 0.8, 0) -- Apply force slightly below center?
alignPos.Attachment0 = stepAtt
alignPos.MaxForce = BALANCE_StepForce
alignPos.ApplyAtCenterOfMass = true -- Apply force more smoothly
alignPos.Parent = footToStepPart
physicsConstraints[constraintName] = alignPos
end
alignPos.Responsiveness = BALANCE_StepResponsiveness
alignPos.Position = footToStepPart.Position -- Initialize target for Lerp start
alignPos.Enabled = true
-- Set cooldown and stumbling status
if leanMagnitude > (BALANCE_LeanThreshold_FB + BALANCE_LeanThreshold_LR) * 0.8 then
isStumbling = true
stepCooldown = STUMBLE_COOLDOWN_TIME
else
isStumbling = false
stepCooldown = STEP_COOLDOWN_TIME
end
end
-- Always update torso correction
updateTorsoCorrection(dt)
end
local leftFoot = character:FindFirstChild("LeftFoot")
local rightFoot = character:FindFirstChild("RightFoot")
if not leftFoot or not rightFoot or not rootPart or not upperTorso then return end
-- Calculate key vectors and positions
local com = calculateSmoothedCenterOfMass()
local leftPos = leftFoot.Position
local rightPos = rightFoot.Position
local avgFootPos = (leftPos + rightPos) / 2
local groundY = math.min(leftPos.Y, rightPos.Y) -- Use lowest foot as ground reference
-- Character's local XZ plane directions
local rootCF = rootPart.CFrame
local forwardXZ = (rootCF.LookVector * Vector3.new(1, 0, 1)).Unit
local rightXZ = (rootCF.RightVector * Vector3.new(1, 0, 1)).Unit
-- Calculate COM offset relative to average foot position (support base center)
local comXZ = Vector3.new(com.X, 0, com.Z)
local avgFootXZ = Vector3.new(avgFootPos.X, 0, avgFootPos.Z)
local offsetVector = comXZ - avgFootXZ
-- Predict future offset based on current velocity
local velocityXZ = rootPart.AssemblyLinearVelocity * Vector3.new(1, 0, 1)
local predictedOffset = offsetVector + velocityXZ * BALANCE_VelocityPredictionFactor
-- Project predicted offset onto character's forward/right axes
local leanForward = predictedOffset:Dot(forwardXZ)
local leanRight = predictedOffset:Dot(rightXZ)
-- Update active arm balancing based on lean
updateArmBalancing(leanRight, leanForward, dt)
-- === STEP EXECUTION (If currently stepping) ===
if steppingFootName then
local footPart = character:FindFirstChild(steppingFootName)
if footPart and stepTargetPosition then
stepProgress = math.min(stepProgress + dt / STEP_DURATION, 1)
-- Use SmoothStep for easing (starts slow, accelerates, ends slow)
local easeAlpha = stepProgress * stepProgress * (3 - 2 * stepProgress)
-- Calculate foot position along the step arc
-- Get the starting position from the attachment's initial world position if possible
local stepConstraint = physicsConstraints[steppingFootName .. "_BalanceStep"]
local startPos = footPart.Position -- Fallback to current position if constraint/attachment not ready
if stepConstraint and stepConstraint.Attachment0 then
-- Ideally, store the start position when the step begins
-- For now, lerping from current position might cause slight drift, but is simpler
-- startPos = stepConstraint.Attachment0.WorldPosition -- This might be offset from foot center
end
local currentTargetPos = startPos:Lerp(stepTargetPosition, easeAlpha)
local arcHeight = math.sin(stepProgress * math.pi) * BALANCE_LiftHeight -- Sine curve for lift
currentTargetPos = currentTargetPos + Vector3.new(0, arcHeight, 0)
-- Update the AlignPosition constraint target
if stepConstraint then
stepConstraint.Position = currentTargetPos
stepConstraint.Responsiveness = BALANCE_StepResponsiveness * (1 - easeAlpha * 0.5) -- Softer landing
end
-- Check for step completion
local distToTargetXZ = (footPart.Position * Vector3.new(1,0,1) - stepTargetPosition * Vector3.new(1,0,1)).Magnitude
local isBalancedEnough = math.abs(leanForward) < (BALANCE_LeanThreshold_FB * 0.7) and math.abs(leanRight) < (BALANCE_LeanThreshold_LR * 0.7)
-- Completion condition: Reached target OR step timer finished AND reasonably balanced
if distToTargetXZ < STEP_COMPLETION_DISTANCE or (stepProgress >= 1 and isBalancedEnough) then
-- Step finished
if stepConstraint then stepConstraint.Enabled = false end
lastSteppedFoot = steppingFootName
steppingFootName = nil
stepTargetPosition = nil
stepProgress = 0
stepCooldown = isStumbling and STUMBLE_COOLDOWN_TIME or STEP_COOLDOWN_TIME
isStumbling = false
-- Dampen arm swing
local rightArmAV = physicsConstraints["RightUpperArm_Swing"]
local leftArmAV = physicsConstraints["LeftUpperArm_Swing"]
if rightArmAV then rightArmAV.AngularVelocity = rightArmAV.AngularVelocity * 0.5 end
if leftArmAV then leftArmAV.AngularVelocity = leftArmAV.AngularVelocity * 0.5 end
-- Check if step timer finished but still unbalanced (might need another step)
elseif stepProgress >= 1 and not isBalancedEnough then
-- Mark as stumbling to allow a quick follow-up step
isStumbling = true
-- Finish current step logic, but set short cooldown
if stepConstraint then stepConstraint.Enabled = false end
lastSteppedFoot = steppingFootName
steppingFootName = nil
stepTargetPosition = nil
stepProgress = 0
stepCooldown = STUMBLE_COOLDOWN_TIME -- Allow immediate next step check
end
else
-- Foot missing or target lost? Cancel step
steppingFootName = nil
stepTargetPosition = nil
stepProgress = 0
isStumbling = false
end
updateTorsoCorrection(dt)
return
end
-- === STEP DECISION (If not currently stepping and cooldown is over) ===
if stepCooldown > 0 then
updateTorsoCorrection(dt)
return
end
local needsStepFB = math.abs(leanForward) > BALANCE_LeanThreshold_FB
local needsStepLR = math.abs(leanRight) > BALANCE_LeanThreshold_LR
if needsStepFB or needsStepLR then
-- Determine which foot to step with
local footToStepName = (lastSteppedFoot == "LeftFoot") and "RightFoot" or "LeftFoot"
local footToStepPart = character:FindFirstChild(footToStepName)
local stationaryFootPart = (footToStepName == "LeftFoot") and rightFoot or leftFoot
if not footToStepPart or not stationaryFootPart then return end
steppingFootName = footToStepName
stepProgress = 0
-- *** MODIFIED TARGET CALCULATION ***
-- 1. Calculate the required step vector based on lean prediction
local leanMagnitude = predictedOffset.Magnitude
local requiredStepVector = predictedOffset.Unit * math.clamp(
(leanMagnitude - math.min(BALANCE_LeanThreshold_FB, BALANCE_LeanThreshold_LR)) * BALANCE_StepDistanceFactor,
0.1, -- Minimum step distance
STEP_MAX_REACH -- Maximum step distance
)
local requiredStepForward = requiredStepVector:Dot(forwardXZ)
local requiredStepRight = requiredStepVector:Dot(rightXZ)
-- 2. Determine the target lateral position relative to the STATIONARY foot
local stationaryFootPosXZ = stationaryFootPart.Position * Vector3.new(1, 0, 1)
local lateralStepSign = (footToStepName == "LeftFoot") and -1 or 1
-- Aim for the desired stance width away from the stationary foot, in the correct lateral direction
local targetLateralOffset = rightXZ * lateralStepSign * BALANCE_StanceWidth
-- 3. Combine stationary foot position, desired lateral offset, and required forward step
local targetXZ = stationaryFootPosXZ + targetLateralOffset + forwardXZ * requiredStepForward
-- 4. (Optional Sanity Check) Prevent stepping too far laterally if not needed
-- If the required lateral step is small, don't force the full stance width excessively?
-- local actualLateralStepNeeded = rightXZ * requiredStepRight
-- if actualLateralStepNeeded.Magnitude < BALANCE_StanceWidth * 0.5 then
-- targetXZ = stationaryFootPosXZ + actualLateralStepNeeded + forwardXZ * requiredStepForward
-- end
-- Let's stick with the simpler version first (forcing stance width)
-- 5. Find ground height at the calculated target XZ location
local targetGroundY = findGroundY(Vector3.new(targetXZ.X, com.Y, targetXZ.Z)) or groundY
stepTargetPosition = Vector3.new(targetXZ.X, targetGroundY + 0.1, targetXZ.Z) -- Target slightly above ground
-- *** END OF MODIFIED TARGET CALCULATION ***
-- Activate/Update the AlignPosition constraint for the step
local constraintName = steppingFootName .. "_BalanceStep"
local alignPos = physicsConstraints[constraintName]
if not alignPos then
alignPos = Instance.new("AlignPosition")
alignPos.Name = constraintName
alignPos.Mode = Enum.PositionAlignmentMode.OneAttachment
local stepAtt = createConstraintAttachment(footToStepPart, "BalanceStepAtt")
-- stepAtt.Position = Vector3.new(0, -footToStepPart.Size.Y/2 * 0.8, 0) -- Apply force slightly below center?
alignPos.Attachment0 = stepAtt
alignPos.MaxForce = BALANCE_StepForce
alignPos.ApplyAtCenterOfMass = true -- Apply force more smoothly
alignPos.Parent = footToStepPart
physicsConstraints[constraintName] = alignPos
end
alignPos.Responsiveness = BALANCE_StepResponsiveness
alignPos.Position = footToStepPart.Position -- Initialize target for Lerp start
alignPos.Enabled = true
-- Set cooldown and stumbling status
if leanMagnitude > (BALANCE_LeanThreshold_FB + BALANCE_LeanThreshold_LR) * 0.8 then
isStumbling = true
stepCooldown = STUMBLE_COOLDOWN_TIME
else
isStumbling = false
stepCooldown = STEP_COOLDOWN_TIME
end
end
-- Always update torso correction
updateTorsoCorrection(dt)
end
Changes Made:
if needsStepFB or needsStepLR then block, the calculation for targetXZ is rewritten.
requiredStepVector based on the predicted lean and step distance factor.targetLateralOffset based directly on the stationaryFootPart.Position and the desired BALANCE_StanceWidth, ensuring the stepping foot aims to land laterally away from the stationary one.forwardXZ * requiredStepForward) to get the final targetXZ.distToTargetXZ < STEP_COMPLETION_DISTANCE or (stepProgress >= 1 and isBalancedEnough)) to better handle cases where the foot might not reach the exact target but the timer is up and balance is restored. Added a condition to handle stumbling if the timer finishes but balance isn't restored.ApplyAtCenterOfMass: Changed ApplyAtCenterOfMass to true for the stepping AlignPosition. This often results in smoother, less jerky motion compared to applying the force directly at the attachment point, especially for larger forces.This change should make the character prioritize maintaining a reasonable stance width relative to the non-stepping foot, significantly reducing the chance of stepping on its own leg. Test it out and see how it feels! You might still need to fine-tune BALANCE_StanceWidth and potentially BALANCE_StepDistanceFactor.