Unity : Simple Character Controller

HumanoidPlayerControl.cs

using Cinemachine;
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using UnityEngine.InputSystem;

namespace Masterexa.CharactorControl {

    /// <summary>
    /// プレイヤー入力用のHumanoidMotorコントローラー( InputSystem, Cinemachine2 必須 )
    /// </summary>
    public class HumanoidPlayerControl : MonoBehaviour {
        #region Fields
            [SerializeField] PlayerInput    m_playerInput;
            [SerializeField] HumanoidMotor  m_motor;

            [SerializeField,Range(0,1)] float m_lookWeight = 0f;
            [SerializeField,Range(0,1)] float m_lookRate = 0f;
            [SerializeField] CinemachineVirtualCameraBase m_thirdCamera;
            [SerializeField] Transform m_lookPoint;

            InputAction m_move;
        #endregion

        #region Events
            private void Start()
            {
                m_move = m_playerInput.actions["Move"];
                m_motor.EnabledLooking = true;
            }

            public void Update()
            {
                var move = (Vector3)m_move.ReadValue<Vector2>();

                // Determine direction from camera angle.
                var ori = m_thirdCamera.State.FinalOrientation;
                move = (ori * Vector3.right) * move.x + (ori * Vector3.forward) * move.y;
                move.y = 0f;

                // Setup the parameters.
                m_motor.Move(move);
                m_motor.LookPoint = m_lookPoint.position;
                m_motor.LookWeight = m_lookWeight;
                m_motor.LookRate = m_lookRate;
            }
        #endregion
    }
}

SimpleHumanoidMotor.cs

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

namespace Masterexa.CharactorControl{

    /// <summary>
    /// 人型キャラクターの動力
    /// <para>
    /// コンポーネントに設定されたパラメーターから剛体を制御して、キャラクターを移動および回転させます。<br>
    /// Move and rotate the character by controlling the rigid body from the parameters set in the component.
    /// </para>
    /// </summary>
    public class HumanoidMotor : MonoBehaviour {

        private static readonly Vector3 MASK_XZ = new Vector3(1, 0, 1);

        #region Fields
            [SerializeField] Rigidbody m_rigidbody;

            /// <summary>
            /// 移動先
            /// </summary>
            public Vector3 MoveDestination{ get; set; }

            /// <summary>
            /// 移動速度
            /// </summary>
            public float MoveSpeed{ get; set; }

            /// <summary>
            /// 注視を有効にするか
            /// </summary>
            public bool EnabledLooking{ get; set; }

            /// <summary>
            /// 注視点
            /// </summary>
            public Vector3 LookPoint{ get; set; }

            /// <summary>
            /// 注視の強さ
            /// </summary>
            public float LookWeight{ get; set; }

            /// <summary>
            /// 注視のレート
            /// </summary>
            public float LookRate{ get; set; }
        #endregion

        #region Events
            private void Awake()
            {
                m_rigidbody = m_rigidbody ?? GetComponent<Rigidbody>();
            }

            private void FixedUpdate()
            {
                if (EnabledLooking)
                {
                    var lookDir = Vector3.Lerp(MoveDestination, LookPoint, LookWeight) - transform.position;
                    lookDir.Scale(MASK_XZ);
                    lookDir.Normalize();

                    if (lookDir.sqrMagnitude > 0)
                    {
                        transform.rotation = Quaternion.Lerp(
                            transform.rotation,
                            Quaternion.LookRotation(lookDir, Vector3.up),
                            Time.deltaTime * (1f / Mathf.Max(float.Epsilon, LookRate))
                        );
                    }
                }

                m_rigidbody.position += (MoveDestination - transform.position).normalized * MoveSpeed * Time.deltaTime;
            }
        #endregion

        #region Methods
            public void StrafeRelative(Vector2 relativeVelocity)
            {
                var V3 = new Vector3(relativeVelocity.x, 0f, relativeVelocity.y);
                MoveDestination = transform.TransformPoint(V3);
                MoveSpeed = V3.magnitude;
            }

            public void Move(Vector2 velocity)
            {
                Move(new Vector3(velocity.x, 0f, velocity.y));
            }

            public void Move(Vector3 velocity)
            {
                MoveDestination = transform.position + velocity;
                MoveSpeed = velocity.magnitude;
            }
        #endregion
    }
}