Determining when a character has reached a ledge?

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In the Tomb Raider games, when (walk) is selected, Lara will walk up to a ledge but not fall off it.

If the player has the walk function de-selected, Lara could fall off tall buildings and cliffs etc.

Does anyone have some code that will check whether the game character has reached a sheer drop? (Without using triggers)

Maybe something that uses LinePick on a dummy object that is parented to the main character.

Regards,

Rogue Vector