AI agent scripting problem humanoid vs animal/vehical

I have a script that I have found and I'm trying to make it work to alien my AI Agent to the y an z axis mostly the y axis to the ground while still having my AI controller script control the x axis (left right)

This scripted works for aliening the AI Agent to the ground, But it locks the x axis to a world and will not let the AI Agent rotate left or right on the x axis I need the axis to be free to rotate on x axis any direction, Can some one give a hand with my problem I think I need to pass in a local transform in to the Euler of the AI Agent but can't seem to figure it out ,

Also das any one know if Unity has planes to add an humanoid vs animal/vehical script?
As we all know a humanoid Agent walking upright so there really is no problem with humanoid AI Agents ,But with an animal/vehicals they follow the contour of the ground so it looks really bad when animal/vehicals AI Agent dos not follow the contour of the ground.


Here is the script I'm trying to convert


using System.Collections;
using System.Collections.Generic;
using UnityEngine;

public class EnemyMeshAline : MonoBehaviour {

public GameObject target;
float curDir = 0f; // compass indicating direction
Vector3 curNormal = Vector3.up; // smoothed terrain normal
public float turn;

// Update is called once per frame
void Update ()
{

curDir = (curDir + turn) % 360; // rotate angle modulo 360 according to input
RaycastHit hit;
if (Physics.Raycast(target.transform.position, -curNormal, out hit))
{
curNormal = Vector3.Lerp(curNormal, hit.normal, 4*Time.deltaTime);
Quaternion grndTilt = Quaternion.FromToRotation(Vector3.up, curNormal);
target.transform.rotation = grndTilt * Quaternion.Euler(0, curDir, 0);
}
}

 

First of, use code tags, the copy/pasted code there is nigh unto unreadable.

Use the cross product of the terrain normal and the agent's forward vectors. Then use Quaternion.LookRotation(). This is untested, but I think it should work:

Code (CSharp):

1.  
2. Quaternion GetGroundRotation()
3. {
4.      Ray ray = new ray(transform.position, transform.down);
5.      RaycastHit hit;
6.  
7.      if(Physics.Raycast(ray, out hit, 1.5f)
8.      {
9.           Vector3 correctedNormal = Vector3.Cross(hit.normal, transform.forward);
10.           Quaternion correctedRotation = Quaternion.LookRotation(correctedNormal);
11.  
12.           return correctedRotation;
13.      }
14.      else
15.           return transform.rotation;
16. }

 

Thanks for the reply what should I put in the cod tags it will not let me put more then one tag in?


Also do I run this in a update method or will this run on its own in a script