inline Joint& joint(int bodypart) { return skeleton.joints[skeleton.jointlabels[bodypart]]; }
inline XYZ& jointPos(int bodypart) { return joint(bodypart).position; }
inline XYZ& jointVel(int bodypart) { return joint(bodypart).velocity; }
inline Joint& joint(int bodypart) { return skeleton.joints[skeleton.jointlabels[bodypart]]; }
inline XYZ& jointPos(int bodypart) { return joint(bodypart).position; }
inline XYZ& jointVel(int bodypart) { return joint(bodypart).velocity; }