Simulating magnetic shoes?

I'm using a script to simulate walking in magnetic shoes on a spaceship, so I can walk on any surface:

 var moveSpeed: float = 8; // move speed
 var turnSpeed: float = 90; // turning speed (degrees)
 var gravity: float = 10; // character gravity
 var isGrounded: boolean;
 var deltaGround: float = 0.2; // character is grounded up to this distance
 var jumpSpeed: float = 10; // vertical jump initial speed
 var jumpRange: float = 10; // range to detect target wall
 
 private var myNormal: Vector3; // character normal
 private var turnAngle: float = 0; // current character direction
 private var distGround: float; // distance from character position to ground
 private var jumping = false; // flag "I'm jumping to wall"
 private var vertSpeed: float = 0; // vertical jump current speed 
 
 function Start(){
 
     myNormal = transform.up; // starting character normal 
     rigidbody.freezeRotation = true; // disable physics rotation
     // distance from transform.position to ground
     distGround = collider.size.y / 2 - collider.center.y;  
 }
 
 function FixedUpdate(){
     // apply constant weight force
     rigidbody.AddForce(-gravity * myNormal);
 }
 
 function Update(){
 
     var ray: Ray;
     var hit: RaycastHit;
 
     if (!jumping){ // does nothing while jumping to wall
        if (Input.GetButtonDown("Jump")){ // jump pressed:
          ray = Ray(transform.position, transform.forward);
          if (Physics.Raycast(ray, hit, jumpRange)){ // wall ahead?
           JumpToWall(hit.point, hit.normal); // yes: jump to the wall
          }          
        }
        else {
        var turn = Input.GetAxis("Mouse X") * turnSpeed * Time.deltaTime; turnAngle = (turnAngle + turn) % 360;
          ray = Ray(transform.position, -myNormal); // cast ray downwards
          if (Physics.Raycast(ray, hit)){ // use it to update myNormal and isGrounded
           isGrounded = hit.distance <= distGround + deltaGround;
           myNormal = Vector3.Lerp(myNormal, hit.normal, Time.deltaTime);
          }
          else {
           isGrounded = false;
          }
          // rotate character to myNormal...
          var rot = Quaternion.FromToRotation(Vector3.up, myNormal);
          rot *= Quaternion.Euler(0,turnAngle,0); // and to current direction
          transform.rotation = rot;
          var move = Input.GetAxis("Vertical") * moveSpeed * Vector3.forward;
          move.x = Input.GetAxis("Horizontal") * moveSpeed;
          move.y = vertSpeed; // include jump speed, if any
          transform.Translate(move * Time.deltaTime, Space.Self); // move the character
          vertSpeed -= gravity * Time.deltaTime; // apply gravity to jump, if any
          if (vertSpeed < 0) vertSpeed = 0; // clamp to zero
        }        
     }
 }
 
 function JumpToWall(point: Vector3, normal: Vector3){
     // jump to wall 
     jumping = true; // signal it's jumping to wall
     rigidbody.isKinematic = true; // disable physics while jumping
     var orgPos = transform.position;
     var orgRot = transform.rotation;
     var dstPos = point + normal * (distGround + 0.5); // will jump to 0.5 above wall
     var dir = dstPos - orgPos;
     var dstRot = Quaternion.FromToRotation(Vector3.up, normal);
     dstRot *= Quaternion.Euler(0, turnAngle, 0); // keep character direction
     for (var t: float = 0.0; t < 1.0; ){
        t += Time.deltaTime;
        transform.position = Vector3.Lerp(orgPos, dstPos, t);
        transform.rotation = Quaternion.Slerp(orgRot, dstRot, t);
        yield; // return here next frame
     }
     myNormal = normal; // update myNormal
     rigidbody.isKinematic = false; // enable physics
     jumping = false; // jumping to wall finished
 }

There a few problems I need to fix with this script:

• when I go off a sharp angle, I keep falling in the direction of my last surface, instead of floating in space, I was trying to find some way to transform the "jump to surface" into "attach to nearest surface".

• The rotation when standing in between each surface is spazzy, even in the tubular hallway inside the ship.

• Sometimes I end up going through the walls.

• if nothing else, I just want to be able to walk on all the surfaces smoothly, I don't need to jump.