Stykz is a mutlplatform stick figure animation program designed to be a superset of Pivot Stickfigure Animator. It has a number of great features that make it easier to develop animations, such as onionskinning, individual manipulation of line segments within figures, layering of figures and lines.
Note: While the software is classified as free, it is actually donationware. Please consider making a donation to help support development.
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