Novolis.Simulation.Humanoid 2026.1.1.57

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Novolis.Simulation.Humanoid

Cinema 4D / Unity / Mixamo–style standard biped for Novolis: named bones, T-pose bind, FK pose solve, two-bone IK, FABRIK chains, full-body multi-effector helpers, and animation clips. BCL-only (System.Numerics).

Not planar locomotion. Floor agent move is Novolis.Simulation.Kinematics (PlanarAgent). Ragdoll dynamics are Novolis.Physics.Joints (bridge: Humanoid.Physics).

Install

dotnet add package Novolis.Simulation.Humanoid

Quick start

using Novolis.Simulation.Humanoid;
using System.Numerics;

var bind = HumanoidBindPose.CreateDefaultTPose(1.8f);
var pose = HumanoidPose.FromBind(bind);
pose[HumanoidBone.LeftArm] = Quaternion.CreateFromAxisAngle(Vector3.UnitZ, 0.4f);

var world = HumanoidPoseSolver.SolveWorld(bind, pose);
var sticks = HumanoidDebugDraw.BuildSegments(world);

// Limb IK
TwoBoneIk.ApplyLimb(
    world, bind,
    HumanoidBone.LeftArm, HumanoidBone.LeftForeArm, HumanoidBone.LeftHand,
    target: world.Position(HumanoidBone.LeftHand) + new Vector3(0.2f, 0.1f, 0f),
    upperLength: bind.BoneLength(HumanoidBone.LeftForeArm),
    lowerLength: bind.BoneLength(HumanoidBone.LeftHand),
    poleVector: Vector3.UnitZ);

// Multi-effector (hands / feet + optional head via spine FABRIK)
HumanoidFullBodyIk.Apply(world, bind, new HumanoidFullBodyIkTargets
{
    LeftHand = new Vector3(-0.4f, 1.2f, 0.3f),
    RightHand = new Vector3(0.4f, 1.2f, 0.3f),
});

// Persist IK aiming into local pose (clips / further FK)
HumanoidPoseSolver.BakeLocal(bind, world, pose);

IK notes

• Pole vectors bend elbows/knees toward that side of the root→target line (TwoBoneIk.EnforceBendSide rejects inverted mids).
• BakeLocal writes parent-space quats from a world pose so animation systems can consume IK. Re-FK restores bind-length hierarchy (free mid offsets become aiming rotations).

API

Bone standard

Mixamo / Unity Humanoid names (HumanoidBone, HumanoidBoneNames.TryResolve). Hierarchy under HumanoidHierarchy. Map to physics ragdoll spheres via HumanoidRagdollMap (indexes match RagdollHumanoidPreset).

Not in this package

• Mesh skinning / GPU draw → Humanoid.Skinning / apps
• BVH / glTF import → Humanoid.Import
• Finger / face bones (later)
• Game-specific clip banks → Novolis.Game.Humanoid
• Planar agent walk → Novolis.Simulation.Kinematics

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