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You'll need to spend Skill Points to unlock them, but you can tell them apart from normal skills by checking if they have a skill name next to them. Passive Skills work similarly to normal skills. So if you want to switch to a weapon in your inventory, make sure you have the proper skill to use it. It's also worth noting that skills are also tied to your weapons.
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In addition to letting you perform certain actions but in order to perform a skill, you have to equip it and manually activate it.
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Skills are actions you can perform as you're in a fight.
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