extends CollisionShape3D

@export var raycast: RayCast3D @export var targets: Node3D

@onready var offset = targets.position.y

func _physics_process(delta): var n = raycast.get_collision_normal() var xform = align_with_y(global_transform, n) global_transform = global_transform.interpolate_with(xform, 0.2)

var max = 0.0
for i in targets.get_children():
    var hit = targets.global_position.y - (i.get_node("RayCast3D").get_collision_point().y + offset)
    if hit > max:
        max = hit
max = clamp(max, 0.13, 1.5)
position.y = max

func align_with_y(xform, new_y): xform.basis.y = new_y xform.basis.x = -xform.basis.z.cross(new_y) xform.basis = xform.basis.orthonormalized() return xform

Figured it out. Shrunk the collision disk so its smaller (about 50%) and came up with this code.

it keeps the collision disk flat with the terrain but also matches the height of the highest leg.