/// <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);
}
/// <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;
}
}
/// <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();
}
}
public IKApplier(BipedSkeleton firstSkel)
{
lastSkel = firstSkel;
IKSolver = new CCD();
FABRIK = new FABRIK();
FABRIK.MaxIterations = 100;
}
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);
}
/// <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();
}
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>
/// 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);
}
//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);
}
/// <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);
}
/// <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
}