emilianavt · April 20, 2025 10:12 · Mar 11, 2021 · Mar 11, 2021 · Mar 9, 2021 · Mar 9, 2021
diff --git a/IKRunner.cs b/IKRunner.cs
@@ -62,7 +62,7 @@ void Start() {
             try {
                 FindInjectionPoint(ref loop, "UnityEngine.PlayerLoop.PreLateUpdate+ConstraintManagerUpdate");
             } catch (Exception e) {
-                Debug.LogError("Failed to insert IKRunner inter PlayerLoop: " + e);
+                Debug.LogError("Failed to insert IKRunner into PlayerLoop: " + e);
             }
             PlayerLoop.SetPlayerLoop(loop);
             PreConstraintIKRunner.ready = found;

diff --git a/IKRunner.cs b/IKRunner.cs
@@ -7,7 +7,7 @@
 
 // Disable IK and TwistRelaxers and set them on this to have them run before constraints and particle systems are evaluated.
 // Only one instance of IKRunner is possible, but it should be easy enough to extend.
-// Remember to call Start() on the TwistRelaxers once if they are disabled from the beginning.
+// Remember to call Start() on the TwistRelaxers once if they are disabled from the beginning. The IK may also need manual initialization.
 public class IKRunner : MonoBehaviour
 {
     public IK ik;

diff --git a/IKRunner.cs b/IKRunner.cs
@@ -7,6 +7,7 @@
 
 // Disable IK and TwistRelaxers and set them on this to have them run before constraints and particle systems are evaluated.
 // Only one instance of IKRunner is possible, but it should be easy enough to extend.
+// Remember to call Start() on the TwistRelaxers once if they are disabled from the beginning.
 public class IKRunner : MonoBehaviour
 {
     public IK ik;
@@ -77,10 +78,10 @@ void IKUpdate() {
         if (ik != null) {
             ik.GetIKSolver().Update();
             foreach (var relaxer in twistRelaxers)
-                //if (relaxer.ik == null) {
+                if (relaxer.ik == null) {
                     foreach (var solver in relaxer.twistSolvers)
                         solver.Relax();
-                //}
+                }
         }
     }
 }
diff --git a/IKRunner.cs b/IKRunner.cs
@@ -77,10 +77,10 @@ void IKUpdate() {
         if (ik != null) {
             ik.GetIKSolver().Update();
             foreach (var relaxer in twistRelaxers)
-                if (relaxer.ik == null) {
+                //if (relaxer.ik == null) {
                     foreach (var solver in relaxer.twistSolvers)
                         solver.Relax();
-                }
+                //}
         }
     }
 }
diff --git a/IKRunner.cs b/IKRunner.cs
@@ -0,0 +1,86 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.LowLevel;
+using RootMotion.FinalIK;
+
+// Disable IK and TwistRelaxers and set them on this to have them run before constraints and particle systems are evaluated.
+// Only one instance of IKRunner is possible, but it should be easy enough to extend.
+public class IKRunner : MonoBehaviour
+{
+    public IK ik;
+    public List<TwistRelaxer> twistRelaxers = new List<TwistRelaxer>();
+
+    private bool found = false;
+
+    bool FindInjectionPoint(ref PlayerLoopSystem system, string target) {
+        if (system.type != null && system.type.ToString() == target) {
+            return true;
+        }
+        if (system.subSystemList == null)
+            return false;
+        found = false;
+        for (int i = 0; i < system.subSystemList.Length; i++) {
+            found = found || FindInjectionPoint(ref system.subSystemList[i], target);
+        }
+        if (found) {
+            PlayerLoopSystem[] newLoop = new PlayerLoopSystem[system.subSystemList.Length + 1];
+            int j = 0;
+            for (int i = 0; i < system.subSystemList.Length; i++) {
+                if (system.subSystemList[i].type.ToString() == target) {
+                    newLoop[j] = PreConstraintIKRunner.GetNewSystem();
+                    j++;
+                }
+                newLoop[j++] = system.subSystemList[i];
+            }
+            system.subSystemList = newLoop;
+        }
+        return false;
+    }
+
+    public struct PreConstraintIKRunner {
+        public static bool ready = false;
+        public static IKRunner ikRunner;
+        public static PlayerLoopSystem GetNewSystem() {
+            return new PlayerLoopSystem() {
+                type = typeof(PreConstraintIKRunner),
+                updateDelegate = UpdateFunction
+            };
+        }
+
+        public static void UpdateFunction() {
+            ikRunner.IKUpdate();
+        }
+    }
+
+    void Start() {
+        PreConstraintIKRunner.ikRunner = this;
+        if (!PreConstraintIKRunner.ready) {
+            var loop = PlayerLoop.GetCurrentPlayerLoop();
+            try {
+                FindInjectionPoint(ref loop, "UnityEngine.PlayerLoop.PreLateUpdate+ConstraintManagerUpdate");
+            } catch (Exception e) {
+                Debug.LogError("Failed to insert IKRunner inter PlayerLoop: " + e);
+            }
+            PlayerLoop.SetPlayerLoop(loop);
+            PreConstraintIKRunner.ready = found;
+        }
+    }
+
+    void Update() {
+        if (ik != null)
+            ik.GetIKSolver().FixTransforms();
+    }
+
+    void IKUpdate() {
+        if (ik != null) {
+            ik.GetIKSolver().Update();
+            foreach (var relaxer in twistRelaxers)
+                if (relaxer.ik == null) {
+                    foreach (var solver in relaxer.twistSolvers)
+                        solver.Relax();
+                }
+        }
+    }
+}
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