D, 4, 3);
    makeJoint(ninjaID, 5, 2);
    makeJoint(ninjaID, 6, 5);
    makeJoint(ninjaID, 7, 6);
    makeJoint(ninjaID, 8, 2);
    makeJoint(ninjaID, 9, 8);
    makeJoint(ninjaID, 10, 9);
    makeJoint(ninjaID, 12, 1);
    makeJoint(ninjaID, 13, 12);
    makeJoint(ninjaID, 14, 13);
    makeJoint(ninjaID, 15, 1);
    makeJoint(ninjaID, 16, 15);
    makeJoint(ninjaID, 17, 16);

    phySetJointGlobalAnchor(2, dbLimbPositionX(ninjaID, 10), dbLimbPositionY(ninjaID, 10), dbLimbPositionZ(ninjaID, 10));
    phyM