In Aristotle, we find, among the virtues, Courage, Temperance, Magnanimity, Modesty, Prudence, and manly Openness, as well as Justice and Friendship.

Epictetus puts people on their guard against humanity and compassion.

In general, the difference of voluntary and involuntary was little regarded in ancient ethics.

This is changed in modern times, by the alliance of Ethics with Theology.

The divine has put all morality on the footing of the civil law, and guarded it by the same sanctions of reward and punishment; and consequently must make the distinction of voluntary and involuntary fundamental.
Hume also composed a dialogue, to illustrate, in his light and easy style, the great variety, amounting almost to opposition, of men's moral sentiments in different ages.