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what is the best methode for footstep sounds? (3rd person)

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i want to know what is the best method for syncing footsteps up with a 3rd person character? i have seen people use raycasts on the feet, sphere collider triggers on the feet and animation key frame slops. i have seen people on forums saying positive and negative things about all three. I have experimented with using a raycast on each foot to detect downward distance collision and playing the sound when it reaches a short distance from the ground. This works ok but steep slops and quckly changing directions sometime cause missed steps or multiple step triggers. sphere colliders seem a little better with less problems on slops.

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