First slice: PD-muscle humanoid ragdoll on Ymir's SoA world #2

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nibu merged 2 commits from nibu/first-slice into main 2026-11-10 17:16:57 +00:00

Conversation 1 Commits 2 Files changed 14 +778 -2

2026-11-10

Nibu

Point the Ymir dependency at main now that the SoA joints merged ...

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>

d2ad276e53

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2026-11-10 17:16:55 +00:00

2026-11-07

Nibu

First slice: PD-muscle humanoid ragdoll on Ymir's SoA world ...

Lodur.Core: engine-free PD law with per-muscle strength. Lodur.Body.Ymir: 13-body, 12-joint ragdoll
driven through the world's torque lanes from caller-owned strength and target arrays. Tests: stand, fall,
rest, per-muscle strength, torque conservation, no allocation, same seed gives the same state hash.

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>

ef7386a35d

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2026-11-07 04:07:37 +00:00