@ - sounds like you have everything needed to make a truly dynamic character controller. All that’s left mainly is making the character “walk on raycasts” (use two per foot IMO) to determine when they are falling/in air, and also a center of gravity calculation. If the COG is not over the feet, make the character fall/ragdoll in the direction of the COG. It’s possible to do some extremely awesome stuff with a truly dynamic character like that. You’d want to use the PhAT collision rather than a capsule in that case as well, to get even more out of it.