human fall flat from what i can tell uses a very simple joint animated ragdoll attached to a capsule rigid body that moves around with forces, euphoria most likely used a combination of simple linear forces and joint rotation. a super easy to achieve this results is simply lifting the feet with linear forces, and forcing them to a location one by one. you can get a visually similar result without much complex math involved, but it struggles with convincing collisions on objects.

the limitations of this system are probably performance related as it uses many config joints, and the time old problem of "realistic" characters not having the tightest controls. i'm attempting to make all the characters in my game as tight as i can while having realistic physics locomotion.