Ejemplo n.º 1
0
        /// <summary>
        /// Build a skeleton according to the markers
        /// </summary>
        /// <param name="markerData">A list of markers </param>
        /// <returns>A complete skeleton</returns>
        public BipedSkeleton SolveSkeleton(List <LabeledMarker> markerData)
        {
            if (skeleton == null ||
                skeletonBuffer == null ||
                mp == null ||
                joints == null ||
                ikApplier == null)
            {
                skeleton       = new BipedSkeleton();
                skeletonBuffer = new BipedSkeleton();
                MarkersNames markersMap;
                mp        = new MarkersPreprocessor(markerData, out markersMap, bodyPrefix: MarkerPrefix);;
                joints    = new JointLocalization(markersMap);
                ikApplier = new IKApplier(skeleton);
            }
            Dictionary <string, OpenTK.Vector3> markers;

            mp.ProcessMarkers(markerData, out markers, MarkerPrefix);
            var temp = skeleton;

            skeleton       = skeletonBuffer;
            skeletonBuffer = temp;
            joints.GetJointLocation(markers, ref skeleton);
            ikApplier.Interpolation = Interpolation;
            if (SolveWithIK)
            {
                ikApplier.ApplyIK(ref skeleton);
            }
            return(skeleton);
        }
Ejemplo n.º 2
0
        /// <summary>
        /// ...
        /// </summary>
        public void ResetSkeleton()
        {
            if (DEBUG.enabled)
            {
                Debug.Log("Reset Skeleton...");
            }

            charactersJoints.SetLimbs(this.transform, UseFingers);
            //charactersJoints.PrintAll();

            skeletonBuilder = new SkeletonBuilder();
            skeletonBuilder.MarkerPrefix = ActorMarkerPrefix;
            skeletonBuilder.SetBodyData(actorHeight, actorMass);
            skeletonBuilder.SolveWithIK        = UseIK;
            skeletonBuilder.UseTrackingMarkers = UseTrackingMarkers;

            if (markerData != null)
            {
                skeleton = skeletonBuilder.SolveSkeleton(markerData);
            }
            else
            {
                skeleton = new BipedSkeleton();
            }

            if (ScaleMovementToSize)
            {
                scale = FindScale();
            }
            else
            {
                scale = 0;
            }
        }
Ejemplo n.º 3
0
 /// <summary>
 /// Build a skeleton according to the markers
 /// </summary>
 /// <param name="markerData">A list of markers </param>
 /// <returns>A complete skeleton</returns>
 public BipedSkeleton SolveSkeleton(List<Marker> markerData)
 {
     if (   skeleton == null
         || skeletonBuffer == null
         || mp == null
         || joints == null
         || ikApplier == null)
     {
         skeleton = new BipedSkeleton();
         skeletonBuffer = new BipedSkeleton();
         MarkersNames markersMap;
         mp = new MarkersPreprocessor(markerData, out markersMap, bodyPrefix: MarkerPrefix); ;
         joints = new JointLocalization(markersMap);
         ikApplier = new IKApplier(skeleton);
     }
     Dictionary<string, OpenTK.Vector3> markers;
     mp.ProcessMarkers(markerData, out markers, MarkerPrefix);
     var temp = skeleton;
     skeleton = skeletonBuffer;
     skeletonBuffer = temp;
     joints.GetJointLocation(markers, ref skeleton);
     ikApplier.Interpolation = Interpolation;
     if (SolveWithIK) ikApplier.ApplyIK(ref skeleton);
     return skeleton;
 }
 /// <summary>
 /// Updates the rotation and position of the Character
 /// </summary>
 public void Update()
 {
     if (rtClient == null)
     {
         rtClient = RTClient.GetInstance();
     }
     if (!rtClient.GetStreamingStatus())
     {
         return;
     }
     markerData = rtClient.Markers;
     if ((markerData == null || markerData.Count == 0))
     {
         Debug.LogError("The stream does not contain any markers");
         return;
     }
     if (skeletonBuilder != null)
     {
         skeleton = skeletonBuilder.SolveSkeleton(markerData);
     }
     else
     {
         ResetSkeleton();
     }
     SetAll();
     if (!headCam.UseHeadCamera && headCamera)
     {
         DestroyCamera();
     }
 }
Ejemplo n.º 5
0
 public IKApplier(BipedSkeleton firstSkel)
 {
     lastSkel = firstSkel;
         IKSolver = new CCD();
         FABRIK = new FABRIK();
         FABRIK.MaxIterations = 100;
 }
Ejemplo n.º 6
0
 public IKApplier(BipedSkeleton firstSkel)
 {
     lastSkel             = firstSkel;
     IKSolver             = new CCD();
     FABRIK               = new FABRIK();
     FABRIK.MaxIterations = 100;
 }
 public void ResetSkeleton()
 {
     charactersJoints.SetLimbs(this.transform, UseFingers);
     skeletonBuilder = new SkeletonBuilder();
     skeletonBuilder.MarkerPrefix = ActorMarkersPrefix;
     skeletonBuilder.SolveWithIK = UseIK;
     if (markerData != null) skeleton = skeletonBuilder.SolveSkeleton(markerData);
     else skeleton = new BipedSkeleton();
     if (ScaleMovementToSize) scale = FindScale();
     else scale = 0;
 }
        /// <summary>
        /// Fills in the skeleton with the joint positions given the set of markers
        /// </summary>
        /// <param name="markerData">The dictionary contaiing the markers and their position</param>
        /// <param name="skeleton">The skeleton to be filled in</param>
        public void GetJointLocation(Dictionary <string, Vector3> markerData, ref BipedSkeleton skeleton)
        {
            o       = new Values(); // reset joint pos and orientations
            markers = markerData;
            // collect data from markers about body proportions
            // this is necessary for shoulder joint localization
            // Locate hip orientation, hip orientation is important for IK solver,
            bd.CalculateBodyData(markers, ChestOrientation);
            // get all joints
            int i = 0;

            SetJointsRecursive(skeleton.Root, ref i);
        }
Ejemplo n.º 9
0
        /// <summary>
        /// Build a skeleton according to the markers
        /// </summary>
        /// <param name="markerData">A list of markers </param>
        /// <returns>A complete skeleton</returns>
        public BipedSkeleton SolveSkeleton(List <Marker> markerData)
        {
            if (skeleton == null ||
                skeletonBuffer == null ||
                mp == null ||
                joints == null ||
                ikApplier == null)
            {
                skeleton       = new BipedSkeleton();
                skeletonBuffer = new BipedSkeleton();
                MarkersNames markersMap;
                mp        = new MarkersPreprocessor(markerData, out markersMap, bodyPrefix: MarkerPrefix);
                joints    = new JointLocalization(markersMap);
                ikApplier = new IKApplier(skeleton);

                // Set segment tracking markers for virtual marker construction
                st = new ŚegmentTracking(skeleton, markersMap, markerData);
            }

            var temp = skeleton;

            skeleton       = skeletonBuffer;
            skeletonBuffer = temp;

            Dictionary <string, OpenTK.Vector3> markers;

            mp.UpdateMarkerList(markerData, out markers);
            mp.ProcessMarkers(out markers);

            joints.BodyData.Height = bodyHeight;
            joints.BodyData.Mass   = bodyMass;
            joints.GetJointLocations(markers, ref skeleton);

            // Try to reconstruct virtual markers
            if (UseTrackingMarkers)
            {
                if (st.ProcessMarkers(skeleton, markerData, ref markers, MarkerPrefix))
                {
                    mp.ProcessMarkers(out markers);
                    joints.GetJointLocations(markers, ref skeleton);
                }
            }

            ikApplier.Interpolation = Interpolation;
            if (SolveWithIK)
            {
                ikApplier.ApplyIK(ref skeleton);
            }

            return(skeleton);
        }
 /// <summary>
 /// Updates the rotation and position of the Character
 /// </summary>
 public void Update()
 {
     if (rtClient == null) rtClient = RTClient.GetInstance();
     if (!rtClient.GetStreamingStatus()) return;
     markerData = rtClient.Markers;
     if ((markerData == null || markerData.Count == 0))
     {
         Debug.LogError("The stream does not contain any markers");
         return;
     }
     if (skeletonBuilder != null) skeleton = skeletonBuilder.SolveSkeleton(markerData);
     else ResetSkeleton();
     SetAll();
     if (!headCam.UseHeadCamera && headCamera) DestroyCamera();
 }
Ejemplo n.º 11
0
 public void ResetSkeleton()
 {
     charactersJoints.SetLimbs(this.transform, UseFingers);
     skeletonBuilder = new SkeletonBuilder();
     skeletonBuilder.MarkerPrefix = ActorMarkersPrefix;
     skeletonBuilder.SolveWithIK  = UseIK;
     if (markerData != null)
     {
         skeleton = skeletonBuilder.SolveSkeleton(markerData);
     }
     else
     {
         skeleton = new BipedSkeleton();
     }
     if (ScaleMovementToSize)
     {
         scale = FindScale();
     }
     else
     {
         scale = 0;
     }
 }
Ejemplo n.º 12
0
 /// <summary>
 /// Checks for empty position in the skeleton, fills the from the last skeleton.
 /// Root and all of roots children MUST have set possition!
 /// </summary>
 /// <param name="skeleton">The skeleton to be checked </param>
 public void ApplyIK(ref BipedSkeleton skeleton)
 {
     //Root and all of roots children MUST have set possition
     skeleton.Root.Traverse(t => TraversFunc(t));
     lastSkel = skeleton;
 }
 /// <summary>
 /// Fills in the skeleton with the joint positions given the set of markers
 /// </summary>
 /// <param name="markerData">The dictionary contaiing the markers and their position</param>
 /// <param name="skeleton">The skeleton to be filled in</param>
 public void GetJointLocation(Dictionary<string, Vector3> markerData, ref BipedSkeleton skeleton)
 {
     o = new Values(); // reset joint pos and orientations
     markers = markerData;
     // collect data from markers about body proportions
     // this is necessary for shoulder joint localization
     // Locate hiporientation, hip orientation is important for IK solver,
     bd.CalculateBodyData(markers, ChestOrientation);
     // get all joints
     int i = 0;
     SetJointsRecursive(skeleton.Root, ref i);
 }
Ejemplo n.º 14
0
        //private readonly string DEBUG_MARKER = "L_HME";

        /// <summary>
        /// Initializes a new instance of the <see cref="QualisysRealTime.Unity.Skeleton.ŚegmentTracking"/> class.
        /// </summary>
        /// <param name="s">S.</param>
        /// <param name="mn">Mn.</param>
        /// <param name="lm">Lm.</param>
        public ŚegmentTracking(BipedSkeleton s, MarkersNames mn, List <Marker> lm)
        {
            this.skeleton    = s;
            this.markerNames = mn;

            // Converting markers
            this.markers = new Dictionary <string, Vector3>();
            for (int i = 0; i < lm.Count; i++)
            {
                this.markers.Add(lm[i].Label, lm[i].Position);
            }

            // Add the tracking markers for the joints / segments
            string[] labels;

            // Hips
            labels = new string[] {
                markerNames.bodyBase,
                markerNames.leftHip,
                markerNames.rightHip,
                "L_PSIS", // Additional Tracking Marker
                "R_PSIS"  // Additional Tracking Marker
            };
            this.addTrackingMarkers(Joint.PELVIS, labels);

            // Chest
            labels = new string[] {
                markerNames.neck,
                markerNames.spine,
                markerNames.chest,
                "STRN" // Additional Tracking Marker
            };
            this.addTrackingMarkers(Joint.SPINE3, labels);

            // Left Upper Arm
            labels = new string[] {
                markerNames.leftElbow,
                markerNames.leftInnerElbow,
                markerNames.leftOuterElbow,
                "L_UPA"                 // Additional Tracking Marker
            };
            this.addTrackingMarkers(Joint.SHOULDER_L, labels);

            // Right Upper Arm
            labels = new string[] {
                markerNames.rightElbow,
                markerNames.rightInnerElbow,
                markerNames.rightOuterElbow,
                "R_UPA"                 // Additional Tracking Marker
            };
            this.addTrackingMarkers(Joint.SHOULDER_R, labels);

            // Left Lower Arm
            labels = new string[] {
                markerNames.leftWrist,
                markerNames.leftWristRadius,
                "L_FRA"                 // Additional Tracking Marker
            };
            this.addTrackingMarkers(Joint.ELBOW_L, labels);

            // Right Lower Arm
            labels = new string[] {
                markerNames.rightWrist,
                markerNames.rightWristRadius,
                "R_FRA"                 // Additional Tracking Marker
            };
            this.addTrackingMarkers(Joint.ELBOW_R, labels);

            // Left Thigh
            labels = new string[] {
                markerNames.leftUpperKnee,
                markerNames.leftInnerKnee,
                markerNames.leftOuterKnee,
                "L_THI"                 // Additional Tracking Marker
            };
            this.addTrackingMarkers(Joint.HIP_L, labels);

            // Right Thigh
            labels = new string[] {
                markerNames.rightUpperKnee,
                markerNames.rightInnerKnee,
                markerNames.rightOuterKnee,
                "R_THI"                 // Additional Tracking Marker
            };
            this.addTrackingMarkers(Joint.HIP_R, labels);

            // Left Shank
            labels = new string[] {
                markerNames.leftLowerKnee,
                markerNames.leftInnerAnkle,
                markerNames.leftOuterAnkle,
                "L_TIB"                 // Additional Tracking Marker
            };
            this.addTrackingMarkers(Joint.KNEE_L, labels);

            // Right Shank
            labels = new string[] {
                markerNames.rightLowerKnee,
                markerNames.rightInnerAnkle,
                markerNames.rightOuterAnkle,
                "R_TIB"                 // Additional Tracking Marker
            };
            this.addTrackingMarkers(Joint.KNEE_R, labels);
        }
Ejemplo n.º 15
0
        /// <summary>
        /// Processes the markers.
        /// </summary>
        /// <returns><c>true</c>, if markers was processed, <c>false</c> otherwise.</returns>
        /// <param name="s">S.</param>
        /// <param name="lm">Lm.</param>
        /// <param name="nm">Nm.</param>
        /// <param name="prefix">Prefix.</param>
        public bool ProcessMarkers(BipedSkeleton s, List <Marker> lm, ref Dictionary <string, Vector3> nm, string prefix)
        {
            this.skeleton = s;

            // Convert labeled markers to marker dictionary
            this.markers.Clear();
            for (int i = 0; i < lm.Count; i++)
            {
                this.markers.Add(lm[i].Label, lm[i].Position);
            }

            var virtualMarkersCreated = false;

            foreach (var segment in this.segments.Keys)
            {
                // Check for unavailable markers in tracked segments
                if (this.segmentIsTracked(segment))
                {
                    var availableMarkers   = new List <string>();
                    var unavailableMarkers = new List <string>();

                    // Check if one of the tracking markers is not available
                    foreach (var label in this.segments[segment].Keys)
                    {
                        if (label == ORIGIN)
                        {
                            continue;                                          // No origin markers
                        }
                        if (
                            this.markers[label].IsNaN()
                            // DEBUG
                            //|| label == DEBUG_MARKER
                            )
                        {
                            unavailableMarkers.Add(label);
                        }
                        else
                        {
                            availableMarkers.Add(label);
                        }
                    }

                    // Marker is not available, but there are enough tracking markers left
                    if (unavailableMarkers.Count > 0 && availableMarkers.Count >= 2)
                    {
                        //UnityEngine.Debug.Log("real: " + this.markers[DEBUG_MARKER]);
                        //var length1 = this.markers[DEBUG_MARKER].Length;
                        createVirtualMarkers(segment, availableMarkers, unavailableMarkers);
                        //UnityEngine.Debug.Log("virtual: " + this.markers[DEBUG_MARKER]);
                        //var length2 = this.markers[DEBUG_MARKER].Length;
                        //UnityEngine.Debug.Log("DISTANCE real to virtual is " + (length1-length2) );
                        virtualMarkersCreated = true;
                    }
                    else if (unavailableMarkers.Count == 0)
                    {
                        // Update segment tracking markers everytime all markers
                        // are available to increase accuracy
                        updateTrackingMarkers(segment);
                    }

                    // Update markers
                    foreach (var label in unavailableMarkers)
                    {
                        nm[label] = this.markers[label];
                    }
                }
                else
                {
                    // Update segment tracking markers
                    updateTrackingMarkers(segment);
                }
            }

            // Return if virtual markers were created
            return(virtualMarkersCreated);
        }
Ejemplo n.º 16
0
 /// <summary>
 /// Checks for empty position in the skeleton, fills the from the last skeleton.
 /// Root and all of roots children MUST have set possition!
 /// </summary>
 /// <param name="skeleton">The skeleton to be checked </param>
 public void ApplyIK(ref BipedSkeleton skeleton)
 {
     //Root and all of roots children MUST have set possition
     skeleton.Root.Traverse(t => TraversFunc(t));
     lastSkel = skeleton;
 }
        public void SetConstraints(BipedSkeleton skeleton)
        {
            #region Cone constraints
            #region Spine too head
            skeleton[Joint.SPINE0].Constraints = (Spine);
            skeleton[Joint.SPINE1].Constraints = (Spine);
            skeleton[Joint.NECK].Constraints   = (Neck);
            #endregion
            #region Legs
            skeleton[Joint.HIP_L].Constraints      = (SwapXZ(Femur));
            skeleton[Joint.HIP_R].Constraints      = (Femur);
            skeleton[Joint.KNEE_L].Constraints     = (SwapXZ(Knee));
            skeleton[Joint.KNEE_R].Constraints     = (Knee);
            skeleton[Joint.ANKLE_L].Constraints    = (SwapXZ(Ankle));
            skeleton[Joint.ANKLE_R].Constraints    = (Ankle);
            skeleton[Joint.FOOTBASE_L].Constraints = (SwapXZ(FootBase));
            skeleton[Joint.FOOTBASE_R].Constraints = (FootBase);
            #endregion
            #region Arms
            skeleton[Joint.CLAVICLE_L].Constraints = (SwapXZ(Clavicula));
            skeleton[Joint.CLAVICLE_R].Constraints = (Clavicula);
            skeleton[Joint.SHOULDER_L].Constraints = (SwapXZ(Shoulder));
            skeleton[Joint.SHOULDER_R].Constraints = (Shoulder);
            skeleton[Joint.ELBOW_L].Constraints    = (SwapXZ(Elbow));
            skeleton[Joint.ELBOW_R].Constraints    = (Elbow);
            skeleton[Joint.WRIST_L].Constraints    = (SwapXZ(Wrist));
            skeleton[Joint.WRIST_R].Constraints    = (Wrist);
            #endregion
            #endregion

            #region ParentPointers
            skeleton[Joint.CLAVICLE_R].ParentPointer = QuaternionHelper2.RotationZ(-MathHelper.PiOver2);
            skeleton[Joint.CLAVICLE_L].ParentPointer = QuaternionHelper2.RotationZ(MathHelper.PiOver2);
            skeleton[Joint.HIP_R].ParentPointer      = QuaternionHelper2.RotationZ(MathHelper.Pi);
            skeleton[Joint.HIP_L].ParentPointer      = QuaternionHelper2.RotationZ(MathHelper.Pi);
            skeleton[Joint.ANKLE_R].ParentPointer    = QuaternionHelper2.RotationX(MathHelper.PiOver4) * QuaternionHelper2.RotationZ(-MathHelper.PiOver4);
            skeleton[Joint.ANKLE_L].ParentPointer    = QuaternionHelper2.RotationX(MathHelper.PiOver4) * QuaternionHelper2.RotationZ(MathHelper.PiOver4);
            skeleton[Joint.FOOTBASE_L].ParentPointer = QuaternionHelper2.RotationX(MathHelper.PiOver4) *
                                                       QuaternionHelper2.RotationZ(-MathHelper.PiOver4);
            skeleton[Joint.FOOTBASE_R].ParentPointer = QuaternionHelper2.RotationX(MathHelper.PiOver4) *
                                                       QuaternionHelper2.RotationZ(MathHelper.PiOver4);
            #endregion

            #region TwistConstraints
            #region Spine
            skeleton[Joint.SPINE0].TwistLimit = (SpineTwist);
            skeleton[Joint.SPINE1].TwistLimit = (SpineTwist);
            skeleton[Joint.SPINE3].TwistLimit = (NoTwist);
            skeleton[Joint.NECK].TwistLimit   = (NeckTwist);
            #endregion
            #region Legs
            skeleton[Joint.HIP_L].TwistLimit   = (FemurTwist);
            skeleton[Joint.HIP_R].TwistLimit   = (FemurTwist);
            skeleton[Joint.KNEE_L].TwistLimit  = (KneeTwist);
            skeleton[Joint.KNEE_R].TwistLimit  = (KneeTwist);
            skeleton[Joint.ANKLE_L].TwistLimit = (AnkleTwist);
            skeleton[Joint.ANKLE_R].TwistLimit = (AnkleTwist);

            skeleton[Joint.FOOTBASE_L].TwistLimit = (FootBaseTwist);
            skeleton[Joint.FOOTBASE_R].TwistLimit = (FootBaseTwist);
            #endregion
            #region Arms
            skeleton[Joint.CLAVICLE_L].TwistLimit = (ClaviculaTwist);
            skeleton[Joint.SHOULDER_L].TwistLimit = (ShoulderTwist);
            skeleton[Joint.ELBOW_L].TwistLimit    = (ElbowTwist);
            skeleton[Joint.WRIST_L].TwistLimit    = (WristTwist);
            skeleton[Joint.CLAVICLE_R].TwistLimit = (ClaviculaTwist);
            skeleton[Joint.SHOULDER_R].TwistLimit = (ShoulderTwist);
            skeleton[Joint.ELBOW_R].TwistLimit    = (ElbowTwist);
            skeleton[Joint.WRIST_R].TwistLimit    = (WristTwist);
            #endregion
            #endregion
            #region stiffness
            #region Arms
            skeleton[Joint.CLAVICLE_L].Stiffness = (verystiff);
            skeleton[Joint.CLAVICLE_R].Stiffness = (verystiff);

            skeleton[Joint.WRIST_L].Stiffness = (barelymoving);
            skeleton[Joint.WRIST_R].Stiffness = (barelymoving);
            #endregion
            #region Legs
            skeleton[Joint.ANKLE_L].Stiffness    = (barelymoving);
            skeleton[Joint.ANKLE_R].Stiffness    = (barelymoving);
            skeleton[Joint.FOOTBASE_L].Stiffness = (barelymoving);
            skeleton[Joint.FOOTBASE_R].Stiffness = (barelymoving);
            #endregion
            #endregion
        }
        public void SetConstraints(BipedSkeleton skeleton)
        {
            #region Cone constraints
            #region Spine too head
            skeleton[Joint.SPINE0].Constraints = (Spine);
            skeleton[Joint.SPINE1].Constraints = (Spine);
            skeleton[Joint.NECK].Constraints = (Neck);
            #endregion
            #region Legs
            skeleton[Joint.HIP_L].Constraints = (SwapXZ(Femur));
            skeleton[Joint.HIP_R].Constraints = (Femur);
            skeleton[Joint.KNEE_L].Constraints = (SwapXZ(Knee));
            skeleton[Joint.KNEE_R].Constraints = (Knee);
            skeleton[Joint.ANKLE_L].Constraints = (SwapXZ(Ankle));
            skeleton[Joint.ANKLE_R].Constraints = (Ankle);
            skeleton[Joint.FOOTBASE_L].Constraints = (SwapXZ(FootBase));
            skeleton[Joint.FOOTBASE_R].Constraints = (FootBase);
            #endregion
            #region Arms
            skeleton[Joint.CLAVICLE_L].Constraints = (SwapXZ(Clavicula));
            skeleton[Joint.CLAVICLE_R].Constraints = (Clavicula);
            skeleton[Joint.SHOULDER_L].Constraints = (SwapXZ(Shoulder));
            skeleton[Joint.SHOULDER_R].Constraints = (Shoulder);
            skeleton[Joint.ELBOW_L].Constraints = (SwapXZ(Elbow));
            skeleton[Joint.ELBOW_R].Constraints = (Elbow);
            skeleton[Joint.WRIST_L].Constraints = (SwapXZ(Wrist));
            skeleton[Joint.WRIST_R].Constraints = (Wrist);
            #endregion
            #endregion

            #region ParentPointers
            skeleton[Joint.CLAVICLE_R].ParentPointer = QuaternionHelper2.RotationZ(-MathHelper.PiOver2);
            skeleton[Joint.CLAVICLE_L].ParentPointer = QuaternionHelper2.RotationZ(MathHelper.PiOver2);
            skeleton[Joint.HIP_R].ParentPointer = QuaternionHelper2.RotationZ(MathHelper.Pi);
            skeleton[Joint.HIP_L].ParentPointer = QuaternionHelper2.RotationZ(MathHelper.Pi);
            skeleton[Joint.ANKLE_R].ParentPointer = QuaternionHelper2.RotationX(MathHelper.PiOver4) * QuaternionHelper2.RotationZ(-MathHelper.PiOver4);
            skeleton[Joint.ANKLE_L].ParentPointer = QuaternionHelper2.RotationX(MathHelper.PiOver4) * QuaternionHelper2.RotationZ(MathHelper.PiOver4);
            skeleton[Joint.FOOTBASE_L].ParentPointer = QuaternionHelper2.RotationX(MathHelper.PiOver4) *
                QuaternionHelper2.RotationZ(-MathHelper.PiOver4);
                skeleton[Joint.FOOTBASE_R].ParentPointer = QuaternionHelper2.RotationX(MathHelper.PiOver4) *
                QuaternionHelper2.RotationZ(MathHelper.PiOver4);
            #endregion

            #region TwistConstraints
            #region Spine
            skeleton[Joint.SPINE0].TwistLimit = (SpineTwist);
            skeleton[Joint.SPINE1].TwistLimit = (SpineTwist);
            skeleton[Joint.SPINE3].TwistLimit = (NoTwist);
            skeleton[Joint.NECK].TwistLimit = (NeckTwist);
            #endregion
            #region Legs
            skeleton[Joint.HIP_L].TwistLimit = (FemurTwist);
            skeleton[Joint.HIP_R].TwistLimit = (FemurTwist);
            skeleton[Joint.KNEE_L].TwistLimit = (KneeTwist);
            skeleton[Joint.KNEE_R].TwistLimit = (KneeTwist);
            skeleton[Joint.ANKLE_L].TwistLimit = (AnkleTwist);
            skeleton[Joint.ANKLE_R].TwistLimit = (AnkleTwist);

            skeleton[Joint.FOOTBASE_L].TwistLimit = (FootBaseTwist);
            skeleton[Joint.FOOTBASE_R].TwistLimit = (FootBaseTwist);
            #endregion
            #region Arms
            skeleton[Joint.CLAVICLE_L].TwistLimit = (ClaviculaTwist);
            skeleton[Joint.SHOULDER_L].TwistLimit = (ShoulderTwist);
            skeleton[Joint.ELBOW_L].TwistLimit = (ElbowTwist);
            skeleton[Joint.WRIST_L].TwistLimit = (WristTwist);
            skeleton[Joint.CLAVICLE_R].TwistLimit = (ClaviculaTwist);
            skeleton[Joint.SHOULDER_R].TwistLimit = (ShoulderTwist);
            skeleton[Joint.ELBOW_R].TwistLimit = (ElbowTwist);
            skeleton[Joint.WRIST_R].TwistLimit = (WristTwist);
            #endregion
            #endregion
            #region stiffness
            #region Arms
            skeleton[Joint.CLAVICLE_L].Stiffness = (verystiff);
            skeleton[Joint.CLAVICLE_R].Stiffness = (verystiff);

            skeleton[Joint.WRIST_L].Stiffness = (barelymoving);
            skeleton[Joint.WRIST_R].Stiffness = (barelymoving);
            #endregion
            #region Legs
            skeleton[Joint.ANKLE_L].Stiffness = (barelymoving);
            skeleton[Joint.ANKLE_R].Stiffness = (barelymoving);
            skeleton[Joint.FOOTBASE_L].Stiffness = (barelymoving);
            skeleton[Joint.FOOTBASE_R].Stiffness = (barelymoving);
            #endregion
            #endregion
        }