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The legs were rigged and animated in Blender. In Bevy, I had to set up animation events to trigger on each footstep.

It was my first time doing animation, so it's probably not the greatest. Especially since I made some big changes to the movement speed late in development, and didn't have time to redo it yet again to change how long each step moved. If you look closely enough you'll see the behemoths ice-skating a bit on the terrain. I was hoping the trees would hide most of that.