diff --git a/index.html b/index.html
index 85c135e1c..62901012d 100644
--- a/index.html
+++ b/index.html
@@ -86,7 +86,6 @@
 		<script src="lib/GLTFExporter.js"></script>
 		<script src="lib/CanvasFrame.js"></script>
 		<script src="lib/canvas2apng.js"></script>
-		<script src="lib/fik.min.js"></script>
 		<script src="lib/molang.umd.js"></script>
 		<script src="lib/wintersky.umd.js"></script>
 		
@@ -156,6 +155,7 @@
 		<script src="js/animations/animation_mode.js"></script>
 		<script src="js/animations/animation.js"></script>
 		<script src="js/animations/molang.js"></script>
+		<script src="js/animations/fabrik.js"></script>
 		<script src="js/animations/timeline_animators.js"></script>
 		<script src="js/animations/keyframe.js"></script>
 		<script src="js/animations/timeline.js"></script>
diff --git a/js/animations/fabrik.js b/js/animations/fabrik.js
new file mode 100644
index 000000000..8a7986553
--- /dev/null
+++ b/js/animations/fabrik.js
@@ -0,0 +1,79 @@
+function fabrikIter(bones, target, pole) {
+    let n = bones.length;
+    let bases = bones.slice(0, -1);
+
+    let distances = bases.map((bone, i) => {
+        return bone.distanceTo(bones[i + 1]);
+    });
+
+    let dist = bones[0].distanceTo(target);
+
+    polecalc: if (pole) {
+        let target_offset = target.clone().sub(bones[0]);
+        let target_dir = target_offset.normalize();
+
+        let tip_offset = bones[n - 1].clone().sub(bones[0]);
+        let tip_dir = tip_offset.normalize();
+
+        let tip_to_target_rotation = new THREE.Quaternion().setFromUnitVectors(tip_dir, target_dir);
+
+        let pole_offset = pole.clone().sub(bones[0]);
+        let pole_dir = pole_offset.projectOnPlane(target_dir).normalize();
+
+        if (pole_dir.length() == 0) {
+            break polecalc;
+        }
+
+        let normal = target_dir.cross(pole_dir).normalize();
+
+        if (normal.length() == 0) {
+            break polecalc;
+        }
+
+        bones.forEach(bone => {
+            let offset = bone.clone().sub(bones[0]);
+            offset.applyQuaternion(tip_to_target_rotation);
+
+            offset.projectOnPlane(normal);
+
+            offset.add(bones[0]);
+            bone.copy(offset);
+        });
+    }
+
+    if (dist > distances.reduce((partial, a) => partial + a, 0)) {
+        for (i = 0; i < n - 1; i++) {
+            let pos = bones[i];
+            let r = pos.distanceTo(target);
+            let lambda = distances[i] / r;
+            bones[i + 1] = pos.clone().multiplyScalar(1 - lambda).add(target.clone().multiplyScalar(lambda));
+        }
+    } else {
+        let b = bases[0];
+        let diff = target.distanceTo(bones[n - 1]);
+        const TOLERANCE = 0.001;
+        while (diff > TOLERANCE) {
+            bones[n - 1] = target;
+            for (i = n - 2; i >= 0; i--) {
+                let p = bones[i];
+                let p2 = bones[i + 1];
+                let r = p.distanceTo(p2);
+                let lambda = distances[i] / r;
+                bones[i] = p2.clone().multiplyScalar(1 - lambda).add(p.clone().multiplyScalar(lambda));
+            }
+
+            bones[0] = b;
+
+            for (i = 0; i < n - 1; i++) {
+                let p = bones[i];
+                let p2 = bones[i + 1];
+                let r = p.distanceTo(p2);
+                let lambda = distances[i] / r;
+                bones[i + 1] = p.clone().multiplyScalar(1 - lambda).add(p2.clone().multiplyScalar(lambda));
+            }
+
+            diff = target.distanceTo(bones[n - 1]);
+        }
+    }
+}
+
diff --git a/js/animations/timeline_animators.js b/js/animations/timeline_animators.js
index 2c265b155..b75f397ce 100644
--- a/js/animations/timeline_animators.js
+++ b/js/animations/timeline_animators.js
@@ -55,7 +55,7 @@ class GeneralAnimator {
 		if (typeof time !== 'number') time = Timeline.time;
 		var keyframes = [];
 		if (undo) {
-			Undo.initEdit({keyframes})
+			Undo.initEdit({ keyframes })
 		}
 		var keyframe = new Keyframe({
 			channel: channel,
@@ -93,7 +93,7 @@ class GeneralAnimator {
 	}
 	getOrMakeKeyframe(channel) {
 		let before, result;
-		let epsilon = Timeline.getStep()/2 || 0.01;
+		let epsilon = Timeline.getStep() / 2 || 0.01;
 		let has_before = false;
 
 		for (let kf of this[channel]) {
@@ -109,7 +109,7 @@ class GeneralAnimator {
 		if (settings.auto_keyframe.value && Timeline.snapTime(Timeline.time) != 0 && !before && !has_before) {
 			new_keyframe = this.createKeyframe({}, 0, channel, false, false);
 		}
-		return {before, result, new_keyframe};
+		return { before, result, new_keyframe };
 	}
 	showContextMenu(event) {
 		Prop.active_panel = 'timeline'
@@ -140,13 +140,13 @@ class GeneralAnimator {
 			}
 			if (offset + el.clientHeight > scroll_top + height) {
 				$(timeline).animate({
-					scrollTop: offset - (height-el.clientHeight-20)
+					scrollTop: offset - (height - el.clientHeight - 20)
 				}, 200);
 			}
 		}
 	}
 }
-GeneralAnimator.addChannel = function(channel, options) {
+GeneralAnimator.addChannel = function (channel, options) {
 	this.prototype.channels[channel] = {
 		name: options.name || channel,
 		transform: options.transform || false,
@@ -155,16 +155,16 @@ GeneralAnimator.addChannel = function(channel, options) {
 	}
 	ModelProject.all.forEach(project => {
 		if (!project.animations)
-		project.animations.forEach(animation => {
-			animation.animators.forEach(animator => {
-				if (animator instanceof this && !animator[channel]) {
-					Vue.set(animator, channel, []);
-					if (this.prototype.channels[channel].mutable) {
-						Vue.set(animator.muted, channel, false);
+			project.animations.forEach(animation => {
+				animation.animators.forEach(animator => {
+					if (animator instanceof this && !animator[channel]) {
+						Vue.set(animator, channel, []);
+						if (this.prototype.channels[channel].mutable) {
+							Vue.set(animator.muted, channel, false);
+						}
 					}
-				}
+				})
 			})
-		})
 	})
 	Timeline.vue.$forceUpdate();
 }
@@ -229,7 +229,7 @@ class BoneAnimator extends GeneralAnimator {
 			});
 		}
 		super.select();
-		
+
 		if (this[Toolbox.selected.animation_channel] && (Timeline.selected.length == 0 || Timeline.selected[0].animator != this)) {
 			var nearest;
 			this[Toolbox.selected.animation_channel].forEach(kf => {
@@ -286,7 +286,7 @@ class BoneAnimator extends GeneralAnimator {
 					let e = keyframe.channel == 'scale' ? 1e4 : 1e2
 					ref.forEach((r, a) => {
 						if (!isNaN(r)) {
-							ref[a] = Math.round(parseFloat(r)*e)/e
+							ref[a] = Math.round(parseFloat(r) * e) / e
 						}
 					})
 				}
@@ -347,7 +347,7 @@ class BoneAnimator extends GeneralAnimator {
 			let quat = bone.parent.getWorldQuaternion(Reusable.quat1);
 			quat.invert();
 			bone.quaternion.premultiply(quat);
-			
+
 		}
 		return this;
 	}
@@ -373,7 +373,7 @@ class BoneAnimator extends GeneralAnimator {
 		var before = false
 		var after = false
 		var result = false
-		let epsilon = 1/1200;
+		let epsilon = 1 / 1200;
 
 		function mapAxes(cb) {
 			if (!Animator._last_values[channel]) Animator._last_values[channel] = [0, 0, 0];
@@ -396,7 +396,7 @@ class BoneAnimator extends GeneralAnimator {
 				if (!before || keyframe.time > before.time) {
 					before = keyframe
 				}
-			} else  {
+			} else {
 				if (!after || keyframe.time < after.time) {
 					after = keyframe
 				}
@@ -418,7 +418,7 @@ class BoneAnimator extends GeneralAnimator {
 		} else {
 			let no_interpolations = Blockbench.hasFlag('no_interpolations')
 			let alpha = Math.getLerp(before.time, after.time, time)
-			let {linear, step, catmullrom, bezier} = Keyframe.interpolation;
+			let { linear, step, catmullrom, bezier } = Keyframe.interpolation;
 
 			if (no_interpolations || (
 				before.interpolation === linear &&
@@ -433,8 +433,8 @@ class BoneAnimator extends GeneralAnimator {
 
 				let sorted = this[channel].slice().sort((kf1, kf2) => (kf1.time - kf2.time));
 				let before_index = sorted.indexOf(before);
-				let before_plus = sorted[before_index-1];
-				let after_plus = sorted[before_index+2];
+				let before_plus = sorted[before_index - 1];
+				let after_plus = sorted[before_index + 2];
 				if (this.animation.loop == 'loop' && sorted.length >= 3) {
 					if (!before_plus) before_plus = sorted.at(-2);
 					if (!after_plus) after_plus = sorted[1];
@@ -450,7 +450,7 @@ class BoneAnimator extends GeneralAnimator {
 		if (result && result instanceof Keyframe) {
 			let keyframe = result
 			let method = allow_expression ? 'get' : 'calc'
-			let dp_index = (keyframe.time > time || Math.epsilon(keyframe.time, time, epsilon)) ? 0 : keyframe.data_points.length-1;
+			let dp_index = (keyframe.time > time || Math.epsilon(keyframe.time, time, epsilon)) ? 0 : keyframe.data_points.length - 1;
 
 			return mapAxes(axis => keyframe[method](axis, dp_index));
 		}
@@ -467,7 +467,7 @@ class BoneAnimator extends GeneralAnimator {
 	}
 	applyAnimationPreset(preset) {
 		let keyframes = [];
-		Undo.initEdit({keyframes});
+		Undo.initEdit({ keyframes });
 		let current_time = Timeline.snapTime(Timeline.time);
 		for (let channel in this.channels) {
 			let timeline = preset[channel];
@@ -475,12 +475,14 @@ class BoneAnimator extends GeneralAnimator {
 				let data = {};
 				let value = timeline[timecode];
 				if (value instanceof Array) {
-					data = {x: value[0], y: value[1], z: value[2]};
+					data = { x: value[0], y: value[1], z: value[2] };
 				} else if (value.pre) {
-					data = {data_points: [
-						{x: value.pre[0], y: value.pre[1], z: value.pre[2]},
-						{x: value.post[0], y: value.post[1], z: value.post[2]},
-					]}
+					data = {
+						data_points: [
+							{ x: value.pre[0], y: value.pre[1], z: value.pre[2] },
+							{ x: value.post[0], y: value.post[1], z: value.post[2] },
+						]
+					}
 				} else {
 					data = {
 						x: value.post[0], y: value.post[1], z: value.post[2],
@@ -500,30 +502,30 @@ class BoneAnimator extends GeneralAnimator {
 		return this;
 	}
 }
-	BoneAnimator.prototype.type = 'bone';
-	BoneAnimator.prototype.channels = {
-		rotation: {name: tl('timeline.rotation'), mutable: true, transform: true, max_data_points: 2},
-		position: {name: tl('timeline.position'), mutable: true, transform: true, max_data_points: 2},
-		scale: {name: tl('timeline.scale'), mutable: true, transform: true, max_data_points: 2},
-	}
-	Group.animator = BoneAnimator;
-	BoneAnimator.prototype.menu = new Menu('bone_animator', [
-		new MenuSeparator('settings'),
-		{
-			id: 'rotation_global',
-			name: 'menu.animator.rotation_global',
-			condition: animator => animator.type == 'bone',
-			icon: (animator) => animator.rotation_global,
-			click(animator) {
-				Undo.initEdit({animations: [Animation.selected]});
-				animator.rotation_global = !animator.rotation_global;
-				Undo.finishEdit('Toggle rotation in global space');
-				Animator.preview();
-			}
-		},
-		new MenuSeparator('presets'),
-		'apply_animation_preset'
-	])
+BoneAnimator.prototype.type = 'bone';
+BoneAnimator.prototype.channels = {
+	rotation: { name: tl('timeline.rotation'), mutable: true, transform: true, max_data_points: 2 },
+	position: { name: tl('timeline.position'), mutable: true, transform: true, max_data_points: 2 },
+	scale: { name: tl('timeline.scale'), mutable: true, transform: true, max_data_points: 2 },
+}
+Group.animator = BoneAnimator;
+BoneAnimator.prototype.menu = new Menu('bone_animator', [
+	new MenuSeparator('settings'),
+	{
+		id: 'rotation_global',
+		name: 'menu.animator.rotation_global',
+		condition: animator => animator.type == 'bone',
+		icon: (animator) => animator.rotation_global,
+		click(animator) {
+			Undo.initEdit({ animations: [Animation.selected] });
+			animator.rotation_global = !animator.rotation_global;
+			Undo.finishEdit('Toggle rotation in global space');
+			Animator.preview();
+		}
+	},
+	new MenuSeparator('presets'),
+	'apply_animation_preset'
+])
 
 class NullObjectAnimator extends BoneAnimator {
 	constructor(uuid, animation, name) {
@@ -531,9 +533,6 @@ class NullObjectAnimator extends BoneAnimator {
 		this.uuid = uuid;
 		this._name = name;
 
-		this.solver = new FIK.Structure3D(scene);
-		this.chain = new FIK.Chain3D();
-
 		this.position = [];
 	}
 	get name() {
@@ -559,7 +558,7 @@ class NullObjectAnimator extends BoneAnimator {
 			this.element.select();
 		}
 		GeneralAnimator.prototype.select.call(this);
-		
+
 		if (this[Toolbox.selected.animation_channel] && (Timeline.selected.length == 0 || Timeline.selected[0].animator != this)) {
 			var nearest;
 			this[Toolbox.selected.animation_channel].forEach(kf => {
@@ -593,12 +592,13 @@ class NullObjectAnimator extends BoneAnimator {
 	displayIK(get_samples) {
 		let null_object = this.getElement();
 		let target = [...Group.all, ...Locator.all].find(node => node.uuid == null_object.ik_target);
+		let pole = [...Group.all, ...Locator.all].find(node => node.uuid == null_object.ik_pole);
 		if (!null_object || !target) return;
 
 		let bones = [];
-		let ik_target = new THREE.Vector3().copy(null_object.getWorldCenter(true));
+		let ik_target = null_object.getWorldCenter(true).clone();
 		let bone_references = [];
-		let current = target.parent;
+		let current = target;
 
 		let source;
 		if (null_object.ik_source) {
@@ -621,52 +621,52 @@ class NullObjectAnimator extends BoneAnimator {
 		}
 		if (!bones.length) return;
 		bones.reverse();
-		
+
 		bones.forEach(bone => {
 			if (bone.mesh.fix_rotation) bone.mesh.rotation.copy(bone.mesh.fix_rotation);
-		})
+		});
 
+		let bone_pos = [];
 		bones.forEach((bone, i) => {
-			let startPoint = new FIK.V3(0,0,0).copy(bone.mesh.getWorldPosition(new THREE.Vector3()));
-			let endPoint = new FIK.V3(0,0,0).copy(bones[i+1] ? bones[i+1].mesh.getWorldPosition(new THREE.Vector3()) : null_object.getWorldCenter(false));
-
-			let ik_bone = new FIK.Bone3D(startPoint, endPoint);
-			this.chain.addBone(ik_bone);
-
-			bone_references.push({
-				bone,
-				last_diff: new THREE.Vector3(
-					(bones[i+1] ? bones[i+1] : target).origin[0] - bone.origin[0],
-					(bones[i+1] ? bones[i+1] : target).origin[1] - bone.origin[1],
-					(bones[i+1] ? bones[i+1] : target).origin[2] - bone.origin[2]
-				).normalize()
-			})
-		})
+			let pos = bone.mesh.getWorldPosition(new THREE.Vector3());
 
-		this.solver.add(this.chain, ik_target , true);
-		this.solver.meshChains[0].forEach(mesh => {
-			mesh.visible = false;
-		})
+			bone_pos.push(pos);
+
+			if (i != bones.length - 1) {
+				let last_diff = bones[i + 1].mesh.getWorldPosition(new THREE.Vector3());
+				bone.mesh.parent.worldToLocal(last_diff).sub(bone.mesh.position).normalize();
+
+				bone_references.push({
+					bone,
+					last_diff,
+				});
+			}
+		});
+
+		let polePos = pole.mesh.getWorldPosition(new THREE.Vector3());
+
+		fabrikIter(bone_pos, ik_target, polePos);
 
-		this.solver.update();
-		
 		let results = {};
-		bone_references.forEach((bone_ref, i) => {
-			let start = Reusable.vec1.copy(this.solver.chains[0].bones[i].start);
-			let end = Reusable.vec2.copy(this.solver.chains[0].bones[i].end);
-			bones[i].mesh.worldToLocal(start);
-			bones[i].mesh.worldToLocal(end);
+		for (i = 0; i < bone_references.length; i++) {
+			let bone_ref = bone_references[i];
 
-			Reusable.quat1.setFromUnitVectors(bone_ref.last_diff, end.sub(start).normalize());
-			let rotation = get_samples ? new THREE.Euler() : Reusable.euler1;
-			rotation.setFromQuaternion(Reusable.quat1, 'ZYX');
+			let end = bone_pos[i + 1];
+			bone_ref.bone.mesh.parent
+				.worldToLocal(end)
+				.sub(bone_ref.bone.mesh.position)
+				.normalize();
+
+			Reusable.quat1.setFromUnitVectors(
+				bone_ref.last_diff,
+				end,
+			);
 
-			bone_ref.bone.mesh.rotation.x += rotation.x;
-			bone_ref.bone.mesh.rotation.y += rotation.y;
-			bone_ref.bone.mesh.rotation.z += rotation.z;
+			bone_ref.bone.mesh.applyQuaternion(Reusable.quat1);
 			bone_ref.bone.mesh.updateMatrixWorld();
 
 			if (get_samples) {
+				let rotation = new THREE.Euler().setFromQuaternion(Reusable.quat1, 'ZYX');
 				results[bone_ref.bone.uuid] = {
 					euler: rotation,
 					array: [
@@ -676,7 +676,7 @@ class NullObjectAnimator extends BoneAnimator {
 					]
 				}
 			}
-		})
+		}
 
 		if (target_original_quaternion) {
 			let rotation = get_samples ? new THREE.Euler() : Reusable.euler1;
@@ -703,10 +703,6 @@ class NullObjectAnimator extends BoneAnimator {
 			}
 		}
 
-		this.solver.clear();
-		this.chain.clear();
-		this.chain.lastTargetLocation.set(1e9, 0, 0);
-
 		if (get_samples) return results;
 	}
 	displayFrame(multiplier = 1) {
@@ -719,11 +715,11 @@ class NullObjectAnimator extends BoneAnimator {
 		}
 	}
 }
-	NullObjectAnimator.prototype.type = 'null_object';
-	NullObjectAnimator.prototype.channels = {
-		position: {name: tl('timeline.position'), mutable: true, transform: true, max_data_points: 2},
-	}
-	NullObject.animator = NullObjectAnimator;
+NullObjectAnimator.prototype.type = 'null_object';
+NullObjectAnimator.prototype.channels = {
+	position: { name: tl('timeline.position'), mutable: true, transform: true, max_data_points: 2 },
+}
+NullObject.animator = NullObjectAnimator;
 
 class EffectAnimator extends GeneralAnimator {
 	constructor(animation) {
@@ -749,15 +745,15 @@ class EffectAnimator extends GeneralAnimator {
 				if (diff < 0) return;
 
 				let media = Timeline.playing_sounds.find(s => s.keyframe_id == kf.uuid);
-				if (diff >= 0 && diff < (1/30) * (Timeline.playback_speed/100) && !media) {
+				if (diff >= 0 && diff < (1 / 30) * (Timeline.playback_speed / 100) && !media) {
 					if (kf.data_points[0].file && !kf.cooldown) {
 						media = new Audio(kf.data_points[0].file);
 						media.keyframe_id = kf.uuid;
-						media.playbackRate = Math.clamp(Timeline.playback_speed/100, 0.1, 4.0);
-						media.volume = Math.clamp(settings.volume.value/100, 0, 1);
-						media.play().catch(() => {});
+						media.playbackRate = Math.clamp(Timeline.playback_speed / 100, 0.1, 4.0);
+						media.volume = Math.clamp(settings.volume.value / 100, 0, 1);
+						media.play().catch(() => { });
 						Timeline.playing_sounds.push(media);
-						media.onended = function() {
+						media.onended = function () {
 							Timeline.playing_sounds.remove(media);
 						}
 
@@ -765,13 +761,13 @@ class EffectAnimator extends GeneralAnimator {
 						setTimeout(() => {
 							delete kf.cooldown;
 						}, 400)
-					} 
+					}
 				} else if (diff > 0 && media) {
 					if (Math.abs(media.currentTime - diff) > 0.18 && diff < media.duration) {
 						console.log('Resyncing sound')
 						// Resync
 						media.currentTime = Math.clamp(diff + 0.08, 0, media.duration);
-						media.playbackRate = Math.clamp(Timeline.playback_speed/100, 0.1, 4.0);
+						media.playbackRate = Math.clamp(Timeline.playback_speed / 100, 0.1, 4.0);
 					}
 				}
 			})
@@ -790,14 +786,14 @@ class EffectAnimator extends GeneralAnimator {
 								let i_here = i;
 								let anim_uuid = this.animation.uuid;
 								emitter = particle_effect.emitters[kf.uuid + i] = new Wintersky.Emitter(WinterskyScene, particle_effect.config);
-								
+
 								let old_variable_handler = emitter.Molang.variableHandler;
 								emitter.Molang.variableHandler = (key, params) => {
 									let curve_result = old_variable_handler.call(emitter, key, params);
 									if (curve_result !== undefined) return curve_result;
 									return Animator.MolangParser.variableHandler(key);
 								}
-								emitter.on('start', ({params}) => {
+								emitter.on('start', ({ params }) => {
 									let animation = Animation.all.find(a => a.uuid === anim_uuid);
 									let kf_now = animation?.animators.effects?.particle.find(kf2 => kf2.uuid == kf.uuid);
 									let data_point_now = kf_now && kf_now.data_points[i_here];
@@ -820,12 +816,12 @@ class EffectAnimator extends GeneralAnimator {
 						} else if (emitter && emitter.enabled) {
 							emitter.stop(true);
 						}
-					} 
+					}
 					i++;
 				}
 			})
 		}
-		
+
 		if (!this.muted.timeline) {
 			this.timeline.forEach(kf => {
 				if ((kf.time > this.last_displayed_time && kf.time <= this.animation.time) || Math.epsilon(kf.time, this.animation.time, 0.01)) {
@@ -844,13 +840,13 @@ class EffectAnimator extends GeneralAnimator {
 					var diff = kf.time - this.animation.time;
 					if (diff < 0 && Timeline.waveforms[kf.data_points[0].file] && Timeline.waveforms[kf.data_points[0].file].duration > -diff) {
 						var media = new Audio(kf.data_points[0].file);
-						media.playbackRate = Math.clamp(Timeline.playback_speed/100, 0.1, 4.0);
-						media.volume = Math.clamp(settings.volume.value/100, 0, 1);
+						media.playbackRate = Math.clamp(Timeline.playback_speed / 100, 0.1, 4.0);
+						media.volume = Math.clamp(settings.volume.value / 100, 0, 1);
 						media.currentTime = -diff;
 						media.keyframe_id = kf.uuid;
-						media.play().catch(() => {});
+						media.play().catch(() => { });
 						Timeline.playing_sounds.push(media);
-						media.onended = function() {
+						media.onended = function () {
 							Timeline.playing_sounds.remove(media);
 						}
 
@@ -858,18 +854,18 @@ class EffectAnimator extends GeneralAnimator {
 						setTimeout(() => {
 							delete kf.cooldown;
 						}, 400)
-					} 
+					}
 				}
 			})
 		}
 	}
 }
-	EffectAnimator.prototype.type = 'effect';
-	EffectAnimator.prototype.channels = {
-		particle: {name: tl('timeline.particle'), mutable: true, max_data_points: 1000},
-		sound: {name: tl('timeline.sound'), mutable: true, max_data_points: 1000},
-		timeline: {name: tl('timeline.timeline'), mutable: true, max_data_points: 1},
-	}
+EffectAnimator.prototype.type = 'effect';
+EffectAnimator.prototype.channels = {
+	particle: { name: tl('timeline.particle'), mutable: true, max_data_points: 1000 },
+	sound: { name: tl('timeline.sound'), mutable: true, max_data_points: 1000 },
+	timeline: { name: tl('timeline.timeline'), mutable: true, max_data_points: 1 },
+}
 
 StateMemory.init('animation_presets', 'array');
 
@@ -878,7 +874,7 @@ BARS.defineActions(() => {
 		condition: () => Modes.animate && Timeline.selected_animator && Timeline.selected_animator.applyAnimationPreset,
 		icon: 'library_books',
 		click: function (e) {
-			new Menu('apply_animation_preset', this.children(), {searchable: true}).open(e.target);
+			new Menu('apply_animation_preset', this.children(), { searchable: true }).open(e.target);
 		},
 		children() {
 			let animator = Timeline.selected_animator;
@@ -903,17 +899,19 @@ BARS.defineActions(() => {
 						animator.applyAnimationPreset(preset);
 					},
 					children: [
-						{icon: 'delete', name: 'generic.delete', click: () => {
-							Blockbench.showMessageBox({
-								title: 'generic.delete',
-								message: 'generic.confirm_delete',
-								buttons: ['dialog.confirm', 'dialog.cancel'],
-							}, result => {
-								if (result == 1) return;
-								StateMemory.animation_presets.remove(preset);
-								StateMemory.save('animation_presets');
-							})
-						}}
+						{
+							icon: 'delete', name: 'generic.delete', click: () => {
+								Blockbench.showMessageBox({
+									title: 'generic.delete',
+									message: 'generic.confirm_delete',
+									buttons: ['dialog.confirm', 'dialog.cancel'],
+								}, result => {
+									if (result == 1) return;
+									StateMemory.animation_presets.remove(preset);
+									StateMemory.save('animation_presets');
+								})
+							}
+						}
 					]
 				}
 				entries.push(entry);
@@ -924,17 +922,17 @@ BARS.defineActions(() => {
 	new Action('save_animation_preset', {
 		icon: 'playlist_add',
 		condition: () => Modes.animate && Keyframe.selected.length && Keyframe.selected.allAre(kf => kf.animator == Keyframe.selected[0].animator),
-		click(event) {	
+		click(event) {
 			let dialog = new Dialog({
 				id: 'save_animation_preset',
 				title: 'action.save_animation_preset',
 				width: 540,
 				form: {
-					name: {label: 'generic.name'},
+					name: { label: 'generic.name' },
 				},
-				onConfirm: function(formResult) {
+				onConfirm: function (formResult) {
 					if (!formResult.name) return;
-	
+
 					let preset = {
 						uuid: guid(),
 						name: formResult.name,
diff --git a/js/outliner/null_object.js b/js/outliner/null_object.js
index 5ec33eff5..48694879f 100644
--- a/js/outliner/null_object.js
+++ b/js/outliner/null_object.js
@@ -111,6 +111,7 @@ class NullObject extends OutlinerElement {
 			new MenuSeparator('ik'),
 			'set_ik_target',
 			'set_ik_source',
+			'set_ik_pole',
 			{
 				id: 'lock_ik_target_rotation',
 				name: 'menu.null_object.lock_ik_target_rotation',
@@ -136,6 +137,7 @@ class NullObject extends OutlinerElement {
 	new Property(NullObject, 'vector', 'position')
 	new Property(NullObject, 'string', 'ik_target', {condition: () => Format.animation_mode});
 	new Property(NullObject, 'string', 'ik_source', {condition: () => Format.animation_mode});
+	new Property(NullObject, 'string', 'ik_pole', { condition: () => Format.animation_mode });
 	new Property(NullObject, 'boolean', 'lock_ik_target_rotation')
 	new Property(NullObject, 'boolean', 'visibility', {default: true});
 	new Property(NullObject, 'boolean', 'locked');
@@ -296,4 +298,51 @@ BARS.defineActions(function() {
 		}
 
 	})
+
+	new Action('set_ik_pole', {
+		icon: 'fa-paperclip',
+		category: 'edit',
+		condition() {
+			let action = BarItems.set_ik_pole;
+			return NullObject.selected.length && action.children(action).length
+		},
+		searchable: true,
+		children() {
+			let nodes = [];
+			iterate(NullObject.selected[0].parent.children);
+
+			function iterate(arr) {
+				arr.forEach(node => {
+					if (node instanceof Group) {
+						nodes.push(node);
+						iterate(node.children);
+					}
+					if (node instanceof Locator) {
+						nodes.push(node);
+					}
+				})
+			}
+			return nodes.map(node => {
+				return {
+					name: node.name + (node.uuid == NullObject.selected[0].ik_pole ? ' (✔)' : ''),
+					icon: node instanceof Locator ? 'fa-anchor' : 'folder',
+					color: markerColors[node.color % markerColors.length] && markerColors[node.color % markerColors.length].standard,
+					click() {
+						Undo.initEdit({ elements: NullObject.selected });
+						NullObject.selected.forEach(null_object => {
+							if (null_object.ik_pole == node.uuid) {
+								null_object.ik_pole = undefined;
+							} else {
+								null_object.ik_pole = node.uuid;
+							}
+						})
+						Undo.finishEdit('Set IK pole');
+					}
+				}
+			})
+		},
+		click(event) {
+			new Menu('set_ik_pole', this.children(this), { searchable: true }).show(event.target, this);
+		}
+	})
 })
diff --git a/lang/en.json b/lang/en.json
index 1100de5f5..af7b23cd2 100644
--- a/lang/en.json
+++ b/lang/en.json
@@ -1849,6 +1849,8 @@
 	"action.set_ik_target.desc": "Select the target bone that should be moved by this null object via Inverse Kinematics",
 	"action.set_ik_source": "Set IK Root",
 	"action.set_ik_source.desc": "Select the root bone of the chain that should be moved by this null object via Inverse Kinematics",
+	"action.set_ik_pole": "Set IK Pole",
+	"action.set_ik_pole.desc": "Select the pole that the chain will attempt to face towards while moving",
 	"action.lock_motion_trail": "Lock Motion Trail",
 	"action.lock_motion_trail.desc": "Lock the motion trail to the currently selected group",
 	"action.animation_onion_skin": "Animation Onion Skin",
diff --git a/lib/fik.min.js b/lib/fik.min.js
deleted file mode 100644
index 3b20cbde9..000000000
--- a/lib/fik.min.js
+++ /dev/null
@@ -1,82 +0,0 @@
-(function(h,l){"object"===typeof exports&&"undefined"!==typeof module?l(exports):"function"===typeof define&&define.amd?define(["exports"],l):l(h.FIK={})})(this,function(h){function l(a,b){this.x=a||0;this.y=b||0}function f(a,b,c){this.x=a||0;this.y=b||0;this.z=c||0}function y(){this.elements=[1,0,0,0,1,0,0,0,1];0<arguments.length&&console.error("M3: the constructor no longer reads arguments. use .set() instead.")}function u(a,b,c,d){this._x=a||0;this._y=b||0;this._z=c||0;this._w=void 0!==d?d:1}function v(){this.rotor=
-q;this.min=-q;this.max=q;this.freeHinge=!0;this.rotationAxisUV=new f;this.referenceAxisUV=new f;this.type=10}function r(a,b,c,d,e){this.joint=new v;this.start=new f;this.end=new f;this.boneConnectionPoint=21;this.length=0;this.color=e||16777215;this.name="";this.init(a,b,c,d)}function z(a){this.tmpTarget=new f;this.tmpMtx=new y;this.bones=[];this.name="";this.color=a||16777215;this.solveDistanceThreshold=1;this.minIterationChange=.01;this.maxIteration=20;this.precision=.001;this.numBones=this.chainLength=
-0;this.baseLocation=new f;this.fixedBaseMode=!0;this.baseboneConstraintType=1;this.baseboneConstraintUV=new f;this.baseboneRelativeConstraintUV=new f;this.baseboneRelativeReferenceConstraintUV=new f;this.lastTargetLocation=new f(Infinity,Infinity,Infinity);this.lastBaseLocation=new f(Infinity,Infinity,Infinity);this.currentSolveDistance=Infinity;this.connectedBoneNumber=this.connectedChainNumber=-1;this.boneConnectionPoint=21;this.isFullForward=!1;this.embeddedTarget=new f;this.useEmbeddedTarget=
-!1}function B(a){this.fixedBaseMode=!0;this.chains=[];this.meshChains=[];this.targets=[];this.numChains=0;this.scene=a;this.tmpMtx=new FIK.M3;this.isWithMesh=!1}function w(a,b,c){this.coordinateSystem=c||11;this.min=void 0!==a?-a*n:-q;this.max=void 0!==b?b*n:q}function x(a,b,c,d,e,g,k){this.start=new l;this.end=new l;this.length=d||0;this.joint=new w(e,g);this.globalConstraintUV=new l(1,0);this.boneConnectionPoint=21;this.color=k||null;this.name="";this.setStartLocation(a);b?(this.setEndLocation(b),
-0===this.length&&(this.length=this.getLength())):c&&this.setEndLocation(this.start.plus(c.normalised().multiplyScalar(this.length)))}function A(a){this.tmpTarget=new l;this.bones=[];this.name="";this.solveDistanceThreshold=1;this.minIterationChange=.01;this.maxIteration=15;this.precision=.001;this.numBones=this.chainLength=0;this.baseLocation=new l;this.fixedBaseMode=!0;this.baseboneConstraintType=1;this.baseboneConstraintUV=new l;this.baseboneRelativeConstraintUV=new l;this.lastTargetLocation=new l(Infinity,
-Infinity);this.lastBaseLocation=new l(Infinity,Infinity);this.boneConnectionPoint=21;this.currentSolveDistance=Infinity;this.connectedBoneNumber=this.connectedChainNumber=-1;this.color=a||16777215;this.embeddedTarget=new l;this.useEmbeddedTarget=!1}function C(a){this.fixedBaseMode=!0;this.chains=[];this.meshChains=[];this.targets=[];this.numChains=0;this.scene=a;this.isWithMesh=!1}function D(){this.goal=this.target=this.endBones=this.startBones=null;this.swivelAngle=0;this.iteration=40;this.thresholds=
-{position:.1,rotation:.1};this.chain=this.solver=null}function E(){this.goal=this.target=this.endBones=this.startBones=null;this.swivelAngle=0;this.iteration=40;this.thresholds={position:.1,rotation:.1};this.chain=this.solver=null}void 0===Number.EPSILON&&(Number.EPSILON=Math.pow(2,-52));void 0===Math.sign&&(Math.sign=function(a){return 0>a?-1:0<a?1:+a});void 0===Function.prototype.name&&Object.defineProperty(Function.prototype,"name",{get:function(){return this.toString().match(/^\s*function\s*([^\(\s]*)/)[1]}});
-void 0===Object.assign&&function(){Object.assign=function(a){if(void 0===a||null===a)throw new TypeError("Cannot convert undefined or null to object");for(var b=Object(a),c=1;c<arguments.length;c++){var d=arguments[c];if(void 0!==d&&null!==d)for(var e in d)Object.prototype.hasOwnProperty.call(d,e)&&(b[e]=d[e])}return b}}();var p={error:function(a){console.error(a)}},m={toRad:Math.PI/180,toDeg:180/Math.PI,pi90:.5*Math.PI,findAngle:function(a,b){var c=a.end.minus(b.end).lengthSq(),d=a.end.minus(a.start).lengthSq(),
-e=b.end.minus(a.start).lengthSq();c=(c+d-e)/Math.sqrt(4*c*d);c=-1>=c?Math.PI:1<=c?0:Math.acos(c);return 0<=a.end.x*b.end.y-a.end.y*b.end.x?c:-c},clamp:function(a,b,c){a=a<b?b:a;return a>c?c:a},lerp:function(a,b,c){return(1-c)*a+c*b},rand:function(a,b){return a+Math.random()*(b-a)},randInt:function(a,b){return a+Math.floor(Math.random()*(b-a+1))},nearEquals:function(a,b,c){return Math.abs(a-b)<=c?!0:!1},perpendicular:function(a,b){return m.nearEquals(a.dot(b),0,.01)?!0:!1},genPerpendicularVectorQuick:function(a){var b=
-a.clone();return.99>Math.abs(a.y)?b.set(-a.z,0,a.x).normalize():b.set(0,a.z,-a.y).normalize()},genPerpendicularVectorFrisvad:function(a){var b=a.clone();if(-.9999999>a.z)return b.set(0,-1,0);var c=1/(1+a.z);return b.set(1-a.x*a.x*c,-a.x*a.y*c,-a.x).normalize()},rotateXDegs:function(a,b){return a.clone().rotate(b*m.toRad,"X")},rotateYDegs:function(a,b){return a.clone().rotate(b*m.toRad,"Y")},rotateZDegs:function(a,b){return a.clone().rotate(b*m.toRad,"Z")},withinManhattanDistance:function(a,b,c){return Math.abs(b.x-
-a.x)>c||Math.abs(b.y-a.y)>c||Math.abs(b.z-a.z)>c?!1:!0},manhattanDistanceBetween:function(a,b){return Math.abs(b.x-a.x)+Math.abs(b.x-a.x)+Math.abs(b.x-a.x)},distanceBetween:function(a,b){var c=b.x-a.x,d=b.y-a.y;a=void 0!==a.z?b.z-a.z:0;return Math.sqrt(c*c+d*d+a*a)},rotateDegs:function(a,b){return a.clone().rotate(b*m.toRad)},validateDirectionUV:function(a){0>a.length()&&p.error("vector direction unit vector cannot be zero.")},validateLength:function(a){0>a&&p.error("Length must be a greater than or equal to zero.")}};
-Object.assign(l.prototype,{isVector2:!0,set:function(a,b){this.x=a||0;this.y=b||0;return this},distanceTo:function(a){return Math.sqrt(this.distanceToSquared(a))},distanceToSquared:function(a){var b=this.x-a.x;a=this.y-a.y;return b*b+a*a},multiplyScalar:function(a){this.x*=a;this.y*=a;return this},divideScalar:function(a){return this.multiplyScalar(1/a)},length:function(){return Math.sqrt(this.x*this.x+this.y*this.y)},normalize:function(){return this.divideScalar(this.length()||1)},normalised:function(){return(new l(this.x,
-this.y)).normalize()},lengthSq:function(){return this.x*this.x+this.y*this.y},add:function(a){this.x+=a.x;this.y+=a.y;return this},plus:function(a){return new l(this.x+a.x,this.y+a.y)},min:function(a){this.x-=a.x;this.y-=a.y;return this},minus:function(a){return new l(this.x-a.x,this.y-a.y)},divideBy:function(a){return(new l(this.x,this.y)).divideScalar(a)},times:function(a){return a.isVector2?new l(this.x*a.x,this.y*a.y):new l(this.x*a,this.y*a,this.z*a)},dot:function(a,b){return this.x*a.x+this.y*
-a.y},negate:function(){this.x=-this.x;this.y=-this.y;return this},negated:function(){return new l(-this.x,-this.y)},clone:function(){return new l(this.x,this.y)},copy:function(a){this.x=a.x;this.y=a.y;return this},cross:function(a){return this.x*a.y-this.y*a.x},sign:function(a){return 0<=this.cross(a)?1:-1},approximatelyEquals:function(a,b){if(0>b)return!1;var c=Math.abs(this.y-a.y);return Math.abs(this.x-a.x)<b&&c<b},rotate:function(a){var b=Math.cos(a);a=Math.sin(a);var c=this.x*a+this.y*b;this.x=
-this.x*b-this.y*a;this.y=c;return this},angleTo:function(a){a=this.dot(a)/Math.sqrt(this.lengthSq()*a.lengthSq());return-1>=a?Math.PI:1<=a?0:Math.acos(a)},getSignedAngle:function(a){var b=this.angleTo(a);return 1===this.sign(a)?b:-b},constrainedUV:function(a,b,c){var d=a.getSignedAngle(this);d>c&&this.copy(a).rotate(c);d<b&&this.copy(a).rotate(b);return this}});Object.assign(f.prototype,{isVector3:!0,set:function(a,b,c){this.x=a||0;this.y=b||0;this.z=c||0;return this},distanceTo:function(a){return Math.sqrt(this.distanceToSquared(a))},
-distanceToSquared:function(a){var b=this.x-a.x,c=this.y-a.y;a=this.z-a.z;return b*b+c*c+a*a},abs:function(){return new f(0>this.x?-this.x:this.x,0>this.y?-this.y:this.y,0>this.z?-this.z:this.z)},dot:function(a){return this.x*a.x+this.y*a.y+this.z*a.z},length:function(){return Math.sqrt(this.x*this.x+this.y*this.y+this.z*this.z)},lengthSq:function(){return this.x*this.x+this.y*this.y+this.z*this.z},normalize:function(){return this.divideScalar(this.length()||1)},normalised:function(){return(new f(this.x,
-this.y,this.z)).normalize()},add:function(a){this.x+=a.x;this.y+=a.y;this.z+=a.z;return this},min:function(a){this.x-=a.x;this.y-=a.y;this.z-=a.z;return this},plus:function(a){return new f(this.x+a.x,this.y+a.y,this.z+a.z)},minus:function(a){return new f(this.x-a.x,this.y-a.y,this.z-a.z)},divideBy:function(a){return new f(this.x/a,this.y/a,this.z/a)},multiply:function(a){return new f(this.x*a,this.y*a,this.z*a)},multiplyScalar:function(a){this.x*=a;this.y*=a;this.z*=a;return this},divideScalar:function(a){return this.multiplyScalar(1/
-a)},cross:function(a){return new f(this.y*a.z-this.z*a.y,this.z*a.x-this.x*a.z,this.x*a.y-this.y*a.x)},crossVectors:function(a,b){var c=a.x,d=a.y;a=a.z;var e=b.x,g=b.y;b=b.z;this.x=d*b-a*g;this.y=a*e-c*b;this.z=c*g-d*e;return this},negate:function(){this.x=-this.x;this.y=-this.y;this.z=-this.z;return this},negated:function(){return new f(-this.x,-this.y,-this.z)},clone:function(){return new f(this.x,this.y,this.z)},copy:function(a){this.x=a.x;this.y=a.y;this.z=a.z;return this},approximatelyEquals:function(a,
-b){if(0>b)return!1;var c=Math.abs(this.y-a.y),d=Math.abs(this.z-a.z);return Math.abs(this.x-a.x)<b&&c<b&&d<b},zero:function(){this.z=this.y=this.x=0;return this},rotate:function(a,b){var c=Math.cos(a);a=Math.sin(a);switch(b){case "X":var d=this.x;var e=this.y*c-this.z*a;var g=this.y*a+this.z*c;break;case "Y":d=this.z*a+this.x*c;e=this.y;g=this.z*c-this.x*a;break;case "Z":d=this.x*c-this.y*a,e=this.x*a+this.y*c,g=this.z}this.x=d;this.y=e;this.z=g;return this},projectOnVector:function(a){var b=a.dot(this)/
-a.lengthSq();return this.copy(a).multiplyScalar(b)},projectOnPlane:function(){var a=new f;return function(b){a.copy(this).projectOnVector(b.normalised());return this.min(a).normalize()}}(),applyM3:function(a){var b=this.x,c=this.y,d=this.z;a=a.elements;this.x=a[0]*b+a[1]*c+a[2]*d;this.y=a[3]*b+a[4]*c+a[5]*d;this.z=a[6]*b+a[7]*c+a[8]*d;return this.normalize()},applyMatrix3:function(a){var b=this.x,c=this.y,d=this.z;a=a.elements;this.x=a[0]*b+a[3]*c+a[6]*d;this.y=a[1]*b+a[4]*c+a[7]*d;this.z=a[2]*b+
-a[5]*c+a[8]*d;return this},applyQuaternion:function(a){var b=this.x,c=this.y,d=this.z,e=a.x,g=a.y,k=a.z;a=a.w;var h=a*b+g*d-k*c,t=a*c+k*b-e*d,f=a*d+e*c-g*b;b=-e*b-g*c-k*d;this.x=h*a+b*-e+t*-k-f*-g;this.y=t*a+b*-g+f*-e-h*-k;this.z=f*a+b*-k+h*-g-t*-e;return this},sign:function(a,b){return 0<=this.cross(a).dot(b)?1:-1},angleTo:function(a){a=this.dot(a)/Math.sqrt(this.lengthSq()*a.lengthSq());return-1>=a?Math.PI:1<=a?0:Math.acos(a)},getSignedAngle:function(a,b){var c=this.angleTo(a);return 1===this.sign(a,
-b)?c:-c},constrainedUV:function(a,b,c,d,e){var g=a.getSignedAngle(this,b);g>e&&this.copy(c.rotateAboutAxis(a,e,b));g<d&&this.copy(c.rotateAboutAxis(a,d,b));return this},limitAngle:function(a,b,c){if(a.angleTo(this)>c){var d=a.normalised().cross(this).normalize();this.copy(b.rotateAboutAxis(a,c,d))}return this}});Object.assign(y.prototype,{isMatrix3:!0,set:function(a,b,c,d,e,g,k,h,t){var f=this.elements;f[0]=a;f[1]=d;f[2]=k;f[3]=b;f[4]=e;f[5]=h;f[6]=c;f[7]=g;f[8]=t;return this},identity:function(){this.set(1,
-0,0,0,1,0,0,0,1);return this},setV3:function(a,b,c){var d=this.elements;d[0]=a.x;d[3]=a.y;d[6]=a.z;d[1]=b.x;d[4]=b.y;d[7]=b.z;d[2]=c.x;d[5]=c.y;d[8]=c.z;return this},transpose:function(){var a=this.elements;var b=a[1];a[1]=a[3];a[3]=b;b=a[2];a[2]=a[6];a[6]=b;b=a[5];a[5]=a[7];a[7]=b;return this},createRotationMatrix:function(a){var b=new f(1,0,0),c=new f(0,1,0);if(-.9999999>a.z)b.set(1,0,0),c.set(0,1,0);else{var d=1/(1+a.z),e=-a.x*a.y*d;b.set(1-a.x*a.x*d,e,-a.x).normalize();c.set(e,1-a.y*a.y*d,-a.y).normalize()}return this.setV3(b,
-c,a)},rotateAboutAxis:function(a,b,c){var d=Math.sin(b);b=Math.cos(b);var e=1-b,g=c.x*c.y*e,k=c.x*c.z*e,h=c.y*c.z*e,f=this.elements;f[0]=c.x*c.x*e+b;f[3]=g+c.z*d;f[6]=k-c.y*d;f[1]=g-c.z*d;f[4]=c.y*c.y*e+b;f[7]=h+c.x*d;f[2]=k+c.y*d;f[5]=h-c.x*d;f[8]=c.z*c.z*e+b;return a.clone().applyM3(this)}});Object.assign(u,{slerp:function(a,b,c,d){return c.copy(a).slerp(b,d)}});Object.defineProperties(u.prototype,{x:{get:function(){return this._x},set:function(a){this._x=a;this.onChangeCallback()}},y:{get:function(){return this._y},
-set:function(a){this._y=a;this.onChangeCallback()}},z:{get:function(){return this._z},set:function(a){this._z=a;this.onChangeCallback()}},w:{get:function(){return this._w},set:function(a){this._w=a;this.onChangeCallback()}}});Object.assign(u.prototype,{set:function(a,b,c,d){this._x=a;this._y=b;this._z=c;this._w=d;this.onChangeCallback();return this},clone:function(){return new this.constructor(this._x,this._y,this._z,this._w)},setFromAxisAngle:function(a,b){b/=2;var c=Math.sin(b);this._x=a.x*c;this._y=
-a.y*c;this._z=a.z*c;this._w=Math.cos(b);this.onChangeCallback();return this},copy:function(a){this._x=a.x;this._y=a.y;this._z=a.z;this._w=a.w;this.onChangeCallback();return this},setFromRotationMatrix:function(a){var b=a.elements,c=b[0];a=b[4];var d=b[8],e=b[1],g=b[5],k=b[9],f=b[2],h=b[6];b=b[10];var l=c+g+b;0<l?(c=.5/Math.sqrt(l+1),this._w=.25/c,this._x=(h-k)*c,this._y=(d-f)*c,this._z=(e-a)*c):c>g&&c>b?(c=2*Math.sqrt(1+c-g-b),this._w=(h-k)/c,this._x=.25*c,this._y=(a+e)/c,this._z=(d+f)/c):g>b?(c=
-2*Math.sqrt(1+g-c-b),this._w=(d-f)/c,this._x=(a+e)/c,this._y=.25*c,this._z=(k+h)/c):(c=2*Math.sqrt(1+b-c-g),this._w=(e-a)/c,this._x=(d+f)/c,this._y=(k+h)/c,this._z=.25*c);this.onChangeCallback();return this},setFromUnitVectors:function(){var a=new f,b;return function(c,d){void 0===a&&(a=new f);b=c.dot(d)+1;1E-6>b?(b=0,Math.abs(c.x)>Math.abs(c.z)?a.set(-c.y,c.x,0):a.set(0,-c.z,c.y)):a.crossVectors(c,d);this._x=a.x;this._y=a.y;this._z=a.z;this._w=b;return this.normalize()}}(),inverse:function(){return this.conjugate()},
-conjugate:function(){this._x*=-1;this._y*=-1;this._z*=-1;this.onChangeCallback();return this},dot:function(a){return this._x*a._x+this._y*a._y+this._z*a._z+this._w*a._w},lengthSq:function(){return this._x*this._x+this._y*this._y+this._z*this._z+this._w*this._w},length:function(){return Math.sqrt(this._x*this._x+this._y*this._y+this._z*this._z+this._w*this._w)},normalize:function(){var a=this.length();0===a?(this._z=this._y=this._x=0,this._w=1):(a=1/a,this._x*=a,this._y*=a,this._z*=a,this._w*=a);this.onChangeCallback();
-return this},multiply:function(a,b){return void 0!==b?(console.warn("THREE.Quaternion: .multiply() now only accepts one argument. Use .multiplyQuaternions( a, b ) instead."),this.multiplyQuaternions(a,b)):this.multiplyQuaternions(this,a)},premultiply:function(a){return this.multiplyQuaternions(a,this)},multiplyQuaternions:function(a,b){var c=a._x,d=a._y,e=a._z;a=a._w;var g=b._x,k=b._y,f=b._z;b=b._w;this._x=c*b+a*g+d*f-e*k;this._y=d*b+a*k+e*g-c*f;this._z=e*b+a*f+c*k-d*g;this._w=a*b-c*g-d*k-e*f;this.onChangeCallback();
-return this},onChangeCallback:function(){}});var q=Math.PI,n=Math.PI/180,G=180/Math.PI,H=new f(1,0,0),I=new f(0,1,0),J=new f(0,0,1),K=new f(-1,0,0),L=new f(0,-1,0),M=new f(0,0,-1),F=new l(0,1),N=new l(0,-1),O=new l(-1,0),P=new l(1,0);Object.assign(v.prototype,{isJoint3D:!0,clone:function(){var a=new v;a.type=this.type;a.rotor=this.rotor;a.max=this.max;a.min=this.min;a.freeHinge=this.freeHinge;a.rotationAxisUV.copy(this.rotationAxisUV);a.referenceAxisUV.copy(this.referenceAxisUV);return a},testAngle:function(){this.freeHinge=
-this.max===q&&this.min===-q?!0:!1},validateAngle:function(a){a=0>a?0:a;return 180<a?180:a},setAsBallJoint:function(a){this.rotor=this.validateAngle(a)*n;this.type=10},setHinge:function(a,b,c,d,e){this.type=a;0>c&&(c*=-1);this.min=-this.validateAngle(c)*n;this.max=this.validateAngle(d)*n;this.testAngle();this.rotationAxisUV.copy(b).normalize();this.referenceAxisUV.copy(e).normalize()},getHingeReferenceAxis:function(){return this.referenceAxisUV},getHingeRotationAxis:function(){return this.rotationAxisUV},
-setBallJointConstraintDegs:function(a){this.rotor=this.validateAngle(a)*n},setHingeClockwise:function(a){0>a&&(a*=-1);this.min=-this.validateAngle(a)*n;this.testAngle()},setHingeAnticlockwise:function(a){this.max=this.validateAngle(a)*n;this.testAngle()}});Object.assign(r.prototype,{isBone3D:!0,init:function(a,b,c,d){this.setStartLocation(a);b?(this.setEndLocation(b),this.length=this.getLength()):(this.setLength(d),this.setEndLocation(this.start.plus(c.normalised().multiplyScalar(d))))},clone:function(){var a=
-new r(this.start,this.end);a.joint=this.joint.clone();return a},setColor:function(a){this.color=a},setBoneConnectionPoint:function(a){this.boneConnectionPoint=a},setHingeClockwise:function(a){this.joint.setHingeClockwise(a)},setHingeAnticlockwise:function(a){this.joint.setHingeAnticlockwise(a)},setBallJointConstraintDegs:function(a){this.joint.setBallJointConstraintDegs(a)},setStartLocation:function(a){this.start.copy(a)},setEndLocation:function(a){this.end.copy(a)},setLength:function(a){0<a&&(this.length=
-a)},setJoint:function(a){this.joint=a},getBoneConnectionPoint:function(){return this.boneConnectionPoint},getDirectionUV:function(){return this.end.minus(this.start).normalize()},getLength:function(){return this.start.distanceTo(this.end)}});Object.assign(z.prototype,{isChain3D:!0,clone:function(){var a=new z;a.solveDistanceThreshold=this.solveDistanceThreshold;a.minIterationChange=this.minIterationChange;a.maxIteration=this.maxIteration;a.precision=this.precision;a.bones=this.cloneBones();a.baseLocation.copy(this.baseLocation);
-a.lastTargetLocation.copy(this.lastTargetLocation);a.lastBaseLocation.copy(this.lastBaseLocation);1!==this.baseboneConstraintType&&(a.baseboneConstraintUV.copy(this.baseboneConstraintUV),a.baseboneRelativeConstraintUV.copy(this.baseboneRelativeConstraintUV));a.fixedBaseMode=this.fixedBaseMode;a.chainLength=this.chainLength;a.numBones=this.numBones;a.currentSolveDistance=this.currentSolveDistance;a.boneConnectionPoint=this.boneConnectionPoint;a.connectedChainNumber=this.connectedChainNumber;a.connectedBoneNumber=
-this.connectedBoneNumber;a.baseboneConstraintType=this.baseboneConstraintType;a.color=this.color;a.embeddedTarget=this.embeddedTarget.clone();a.useEmbeddedTarget=this.useEmbeddedTarget;return a},clear:function(){for(var a=this.numBones;a--;)this.removeBone(a);this.numBones=0},addBone:function(a){a.setColor(this.color);this.bones.push(a);this.numBones++;1===this.numBones&&(this.baseLocation.copy(a.start),this.baseboneConstraintUV.copy(a.getDirectionUV()));this.updateChainLength()},removeBone:function(a){a<
-this.numBones&&(this.bones.splice(a,1),this.numBones--,this.updateChainLength())},addConsecutiveBone:function(a,b){0<this.numBones&&this.addBone(new r(this.bones[this.numBones-1].end,void 0,a.normalised(),b))},addConsecutiveFreelyRotatingHingedBone:function(a,b,c,d){this.addConsecutiveHingedBone(a,b,c,d,180,180,m.genPerpendicularVectorQuick(d))},addConsecutiveHingedBone:function(a,b,c,d,e,g,k){0!==this.numBones&&(a=a.normalised(),d=d.normalised(),b=new r(this.bones[this.numBones-1].end,void 0,a,b,
-this.color),b.joint.setHinge("global"===(c||"global")?12:11,d,e,g,k),this.addBone(b))},addConsecutiveRotorConstrainedBone:function(a,b,c){0!==this.numBones&&(a=a.normalised(),a=new r(this.bones[this.numBones-1].end,void 0,a,b),a.joint.setAsBallJoint(c),this.addBone(a))},getBoneConnectionPoint:function(){return this.boneConnectionPoint},getConnectedBoneNumber:function(){return this.connectedBoneNumber},getConnectedChainNumber:function(){return this.connectedChainNumber},getBaseboneConstraintType:function(){return this.baseboneConstraintType},
-getBaseboneConstraintUV:function(){if(1!==this.baseboneConstraintType)return this.baseboneConstraintUV},getBaseLocation:function(){return this.bones[0].start},getEffectorLocation:function(){return this.bones[this.numBones-1].end},getLastTargetLocation:function(){return this.lastTargetLocation},getLiveChainLength:function(){for(var a=0,b=this.numBones;b--;)a+=this.bones[b].getLength();return a},getBaseboneRelativeReferenceConstraintUV:function(){return this.baseboneRelativeReferenceConstraintUV},setConnectedBoneNumber:function(a){this.connectedBoneNumber=
-a},setConnectedChainNumber:function(a){this.connectedChainNumber=a},setBoneConnectionPoint:function(a){this.boneConnectionPoint=a},setColor:function(a){this.color=a;for(a=this.numBones;a--;)this.bones[a].setColor(this.color)},setBaseboneRelativeConstraintUV:function(a){this.baseboneRelativeConstraintUV=a.normalised()},setBaseboneRelativeReferenceConstraintUV:function(a){this.baseboneRelativeReferenceConstraintUV=a.normalised()},setBaseboneConstraintUV:function(a){this.baseboneConstraintUV=a.normalised()},
-setRotorBaseboneConstraint:function(a,b,c){0===this.numBones?p.error("Chain must contain a basebone before we can specify the basebone constraint type."):0<b.length()?(this.baseboneConstraintType="global"===(a||"global")?2:4,this.baseboneConstraintUV=b.normalised(),this.baseboneRelativeConstraintUV.copy(this.baseboneConstraintUV),this.bones[0].joint.setAsBallJoint(c)):p.error("Constraint axis cannot be zero.")},setHingeBaseboneConstraint:function(a,b,c,d,e){0===this.numBones?p.error("Chain must contain a basebone before we can specify the basebone constraint type."):
-0>=b.length()?p.error("Hinge rotation axis cannot be zero."):0>=e.length()?p.error("Hinge reference axis cannot be zero."):m.perpendicular(b,e)?(a=a||"global",this.baseboneConstraintType="global"===a?3:5,this.baseboneConstraintUV=b.normalised(),this.bones[0].joint.setHinge("global"===a?12:11,b,c,d,e)):p.error("The hinge reference axis must be in the plane of the hinge rotation axis, that is, they must be perpendicular.")},setFreelyRotatingGlobalHingedBasebone:function(a){this.setHingeBaseboneConstraint("global",
-a,180,180,m.genPerpendicularVectorQuick(a))},setGlobalHingedBasebone:function(a,b,c,d){this.setHingeBaseboneConstraint("global",a,b,c,d)},setFreelyRotatingLocalHingedBasebone:function(a){this.setHingeBaseboneConstraint("local",a,180,180,m.genPerpendicularVectorQuick(a))},setLocalHingedBasebone:function(a,b,c,d){this.setHingeBaseboneConstraint("local",a,b,c,d)},setBaseLocation:function(a){this.baseLocation.copy(a)},setFixedBaseMode:function(a){if(a||-1===this.connectedChainNumber)if(2!==this.baseboneConstraintType||
-a)this.fixedBaseMode=a},setMaxIterationAttempts:function(a){1>a||(this.maxIteration=a)},setMinIterationChange:function(a){0>a||(this.minIterationChange=a)},setSolveDistanceThreshold:function(a){0>a||(this.solveDistanceThreshold=a)},solveForEmbeddedTarget:function(){if(this.useEmbeddedTarget)return this.solveForTarget(this.embeddedTarget)},resetTarget:function(){this.lastBaseLocation=new f(Infinity,Infinity,Infinity);this.currentSolveDistance=Infinity},solveForTarget:function(a){this.tmpTarget.set(a.x,
-a.y,a.z);a=this.precision;var b=this.lastBaseLocation.approximatelyEquals(this.baseLocation,a);if(this.lastTargetLocation.approximatelyEquals(this.tmpTarget,a)&&b)return this.currentSolveDistance;a=null;b?(b=this.bones[this.numBones-1].end.distanceTo(this.tmpTarget),a=this.cloneBones()):b=Infinity;for(var c=[],d=Infinity,e=Infinity,g,k=this.maxIteration;k--;){g=this.solveIK(this.tmpTarget);if(g<d){if(d=g,c=this.cloneBones(),g<=this.solveDistanceThreshold)break}else if(Math.abs(g-e)<this.minIterationChange)break;
-e=g}d<b?(this.currentSolveDistance=d,this.bones=c):(this.currentSolveDistance=b,this.bones=a);this.lastBaseLocation.copy(this.baseLocation);this.lastTargetLocation.copy(this.tmpTarget);return this.currentSolveDistance},solveIK:function(a){if(0!==this.numBones){for(var b,c,d,e,g,k,f=this.tmpMtx,h=this.numBones;h--;){b=this.bones[h];c=b.length;d=b.joint;e=d.type;if(h!==this.numBones-1){g=this.bones[h+1];k=g.getDirectionUV().negate();g=b.getDirectionUV().negate();switch(e){case 10:g.limitAngle(k,f,d.rotor);
-break;case 12:e=d.getHingeRotationAxis();g.projectOnPlane(e);break;case 11:0<h?(f.createRotationMatrix(this.bones[h-1].getDirectionUV()),e=d.getHingeRotationAxis().clone().applyM3(f)):e=this.baseboneRelativeConstraintUV,g.projectOnPlane(e)}c=b.end.plus(g.multiplyScalar(c))}else{b.setEndLocation(a);g=b.getDirectionUV().negated();switch(e){case 12:e=d.getHingeRotationAxis();g.projectOnPlane(e);break;case 11:f.createRotationMatrix(this.bones[h-1].getDirectionUV()),e=d.getHingeRotationAxis().clone().applyM3(f),
-g.projectOnPlane(e)}c=a.plus(g.multiplyScalar(c))}b.setStartLocation(c);0<h&&this.bones[h-1].setEndLocation(c)}for(h=0;h<this.numBones;h++)if(b=this.bones[h],c=b.length,d=b.joint,e=d.type,0!==h){g=b.getDirectionUV();k=this.bones[h-1].getDirectionUV();switch(e){case 10:g.limitAngle(k,f,d.rotor);break;case 12:e=d.getHingeRotationAxis();k=d.getHingeReferenceAxis();g.projectOnPlane(e);d.freeHinge||g.constrainedUV(k,e,f,d.min,d.max);break;case 11:f.createRotationMatrix(k),e=d.getHingeRotationAxis().clone().applyM3(f),
-k=d.getHingeReferenceAxis().clone().applyM3(f),g.projectOnPlane(e),d.freeHinge||g.constrainedUV(k,e,f,d.min,d.max)}c=b.start.plus(g.multiplyScalar(c));b.setEndLocation(c);h<this.numBones-1&&this.bones[h+1].setStartLocation(c)}else{this.fixedBaseMode?b.setStartLocation(this.baseLocation):b.setStartLocation(b.end.minus(b.getDirectionUV().multiplyScalar(c)));g=b.getDirectionUV();switch(this.baseboneConstraintType){case 2:g.limitAngle(this.baseboneConstraintUV,f,d.rotor);break;case 4:g.limitAngle(this.baseboneRelativeConstraintUV,
-f,d.rotor);break;case 3:e=d.getHingeRotationAxis();k=d.getHingeReferenceAxis();g.projectOnPlane(e);d.freeHinge||g.constrainedUV(k,e,f,d.min,d.max);break;case 5:e=this.baseboneRelativeConstraintUV,k=this.baseboneRelativeReferenceConstraintUV,g.projectOnPlane(e),d.freeHinge||g.constrainedUV(k,e,f,d.min,d.max)}c=b.start.plus(g.multiplyScalar(c));b.setEndLocation(c);1<this.numBones&&this.bones[1].setStartLocation(c)}this.lastTargetLocation.copy(a);return this.bones[this.numBones-1].end.distanceTo(a)}},
-updateChainLength:function(){this.chainLength=0;for(var a=this.numBones;a--;)this.chainLength+=this.bones[a].length},cloneBones:function(){for(var a=[],b=0,c=this.bones.length;b<c;b++)a.push(this.bones[b].clone());return a}});Object.assign(B.prototype,{update:function(){for(var a,b,c,d,e=0;e<this.numChains;e++){a=this.chains[e];b=this.targets[e];c=a.getConnectedChainNumber();if(-1!==c)switch(d=this.chains[c].bones[a.getConnectedBoneNumber()],a.setBaseLocation(20===a.getBoneConnectionPoint()?d.start:
-d.end),c=a.getBaseboneConstraintType(),c){case 4:case 5:this.tmpMtx.createRotationMatrix(d.getDirectionUV()),d=a.getBaseboneConstraintUV().clone().applyM3(this.tmpMtx),a.setBaseboneRelativeConstraintUV(d),5===c&&a.setBaseboneRelativeReferenceConstraintUV(a.bones[0].joint.getHingeReferenceAxis().clone().applyM3(this.tmpMtx))}a.useEmbeddedTarget?a.solveForEmbeddedTarget():a.solveForTarget(b);if(this.isWithMesh)for(b=this.meshChains[e],d=0;d<a.numBones;d++)c=a.bones[d],b[d].position.copy(c.start),b[d].lookAt(c.end)}},
-clear:function(){this.clearAllBoneMesh();var a;for(a=this.numChains;a--;)this.remove(a);this.chains=[];this.meshChains=[];this.targets=[]},add:function(a,b,c){this.chains.push(a);this.targets.push(b);this.numChains++;c&&this.addChainMeshs(a)},remove:function(a){this.chains[a].clear();this.chains.splice(a,1);this.meshChains.splice(a,1);this.targets.splice(a,1);this.numChains--},setFixedBaseMode:function(a){this.fixedBaseMode=a;a=this.numChains;for(var b;a--;)b=this.chains[a].getConnectedChainNumber(),
--1===b&&this.chains[a].setFixedBaseMode(this.fixedBaseMode)},getNumChains:function(){return this.numChains},getChain:function(a){return this.chains[a]},connectChain:function(a,b,c,d,e,g,f){if(!(b>this.numChains||c>this.chains[b].numBones)){a=a.clone();void 0!==f&&a.setColor(f);a.setBoneConnectionPoint("end"===d?21:20);a.setConnectedChainNumber(b);a.setConnectedBoneNumber(c);b="end"===d?this.chains[b].bones[c].end:this.chains[b].bones[c].start;a.setBaseLocation(b);a.setFixedBaseMode(!0);for(c=0;c<
-a.numBones;c++)a.bones[c].start.add(b),a.bones[c].end.add(b);this.add(a,e,g)}},addChainMeshs:function(a,b){this.isWithMesh=!0;b=[];for(var c=a.bones.length,d=0;d<c;d++)b.push(this.addBoneMesh(a.bones[d],d-1,b,a));this.meshChains.push(b)},addBoneMesh:function(a,b,c,d){var e=a.length,g=a.color,f=new THREE.CylinderBufferGeometry(1,.5,e,4);f.applyMatrix4((new THREE.Matrix4).makeRotationX(.5*-Math.PI));f.applyMatrix4((new THREE.Matrix4).makeTranslation(0,0,.5*e));var h=new THREE.MeshStandardMaterial({color:g,
-wireframe:!1,shadowSide:!1}),l=new THREE.MeshBasicMaterial({wireframe:!0}),m=null;e=a.joint.type;switch(e){case 10:l.color.setHex(16737792);if(a.joint.rotor===Math.PI)break;a=new THREE.CylinderBufferGeometry(0,2,2,6,1,!0);a.applyMatrix4((new THREE.Matrix4).makeRotationX(.5*-Math.PI));a.applyMatrix4((new THREE.Matrix4).makeTranslation(0,0,1));m=new THREE.Mesh(a,l);break;case 12:g=a.joint.getHingeRotationAxis();var n=a.joint.min;a=a.joint.max;m=2;l.color.setHex(16776960);a=new THREE.CircleBufferGeometry(m,
-12,n,-n+a);1===g.z&&a.applyMatrix4((new THREE.Matrix4).makeRotationX(.5*-Math.PI));1===g.y&&(a.applyMatrix4((new THREE.Matrix4).makeRotationY(.5*-Math.PI)),a.applyMatrix4((new THREE.Matrix4).makeRotationX(.5*-Math.PI)));1===g.x&&a.applyMatrix4((new THREE.Matrix4).makeRotationY(.5*Math.PI));m=new THREE.Mesh(a,l);break;case 11:g=a.joint.getHingeRotationAxis(),m=2,n=a.joint.min,a=a.joint.max,l.color.setHex(65535),a=new THREE.CircleBufferGeometry(m,12,n,-n+a),a.applyMatrix4((new THREE.Matrix4).makeRotationX(.5*
--Math.PI)),1===g.z&&(a.applyMatrix4((new THREE.Matrix4).makeRotationY(.5*-Math.PI)),a.applyMatrix4((new THREE.Matrix4).makeRotationX(.5*Math.PI))),1===g.x&&a.applyMatrix4((new THREE.Matrix4).makeRotationZ(.5*-Math.PI)),1===g.y&&(a.applyMatrix4((new THREE.Matrix4).makeRotationX(.5*Math.PI)),a.applyMatrix4((new THREE.Matrix4).makeRotationY(.5*Math.PI))),m=new THREE.Mesh(a,l)}g=new THREE.AxesHelper(1.5);f=new THREE.Mesh(f,h);f.add(g);this.scene.add(f);f.castShadow=!0;f.receiveShadow=!0;-1!==b?null!==m&&(12!==
-e?(m.position.z=d.bones[b].length,c[b].add(m)):f.add(m)):null!==m&&f.add(m);return f},clearAllBoneMesh:function(){if(this.isWithMesh){var a,b;for(a=this.meshChains.length;a--;){for(b=this.meshChains[a].length;b--;){var c=this.meshChains[a][b];this.scene.remove(c);c.geometry.dispose();c.material.dispose()}this.meshChains[a]=[]}this.meshChains=[]}}});Object.assign(w.prototype,{isJoint2D:!0,clone:function(){var a=new w;a.coordinateSystem=this.coordinateSystem;a.max=this.max;a.min=this.min;return a},
-validateAngle:function(a){a=0>a?0:a;return 180<a?180:a},set:function(a){this.max=a.max;this.min=a.min;this.coordinateSystem=a.coordinateSystem},setClockwiseConstraintDegs:function(a){this.min=-(this.validateAngle(a)*n)},setAnticlockwiseConstraintDegs:function(a){this.max=this.validateAngle(a)*n},setConstraintCoordinateSystem:function(a){this.coordinateSystem=a},getConstraintCoordinateSystem:function(){return this.coordinateSystem}});Object.assign(x.prototype,{isBone2D:!0,clone:function(){var a=new x(this.start,
-this.end);a.length=this.length;a.globalConstraintUV=this.globalConstraintUV;a.boneConnectionPoint=this.boneConnectionPoint;a.joint=this.joint.clone();a.color=this.color;a.name=this.name;return a},setName:function(a){this.name=a},setColor:function(a){this.color=a},setBoneConnectionPoint:function(a){this.boneConnectionPoint=a},setStartLocation:function(a){this.start.copy(a)},setEndLocation:function(a){this.end.copy(a)},setLength:function(a){0<a&&(this.length=a)},setGlobalConstraintUV:function(a){this.globalConstraintUV=
-a},setJoint:function(a){this.joint=a},setClockwiseConstraintDegs:function(a){this.joint.setClockwiseConstraintDegs(a)},setAnticlockwiseConstraintDegs:function(a){this.joint.setAnticlockwiseConstraintDegs(a)},setJointConstraintCoordinateSystem:function(a){this.joint.setConstraintCoordinateSystem(a)},getGlobalConstraintUV:function(){return this.globalConstraintUV},getBoneConnectionPoint:function(){return this.boneConnectionPoint},getDirectionUV:function(){return this.end.minus(this.start).normalize()},
-getLength:function(){return this.start.distanceTo(this.end)}});Object.assign(A.prototype,{isChain2D:!0,clone:function(){var a=new A;a.solveDistanceThreshold=this.solveDistanceThreshold;a.minIterationChange=this.minIterationChange;a.maxIteration=this.maxIteration;a.precision=this.precision;a.bones=this.cloneBones();a.baseLocation.copy(this.baseLocation);a.lastTargetLocation.copy(this.lastTargetLocation);a.lastBaseLocation.copy(this.lastBaseLocation);1!==this.baseboneConstraintType&&(a.baseboneConstraintUV.copy(this.baseboneConstraintUV),
-a.baseboneRelativeConstraintUV.copy(this.baseboneRelativeConstraintUV));a.fixedBaseMode=this.fixedBaseMode;a.chainLength=this.chainLength;a.numBones=this.numBones;a.currentSolveDistance=this.currentSolveDistance;a.boneConnectionPoint=this.boneConnectionPoint;a.connectedChainNumber=this.connectedChainNumber;a.connectedBoneNumber=this.connectedBoneNumber;a.baseboneConstraintType=this.baseboneConstraintType;a.color=this.color;a.embeddedTarget=this.embeddedTarget.clone();a.useEmbeddedTarget=this.useEmbeddedTarget;
-return a},clear:function(){for(var a=this.numBones;a--;)this.removeBone(a)},addBone:function(a){null===a.color&&a.setColor(this.color);this.bones.push(a);0===this.numBones&&(this.baseLocation.copy(a.start),this.baseboneConstraintUV.copy(a.getDirectionUV()));this.numBones++;this.updateChainLength()},removeBone:function(a){a<this.numBones&&(this.bones.splice(a,1),this.numBones--,this.updateChainLength())},addConsecutiveBone:function(a,b,c,d,e){if(0===this.numBones)p.error("Chain is empty ! need first bone");
-else if(a.isBone2D){b=a.getDirectionUV();m.validateDirectionUV(b);c=a.length;m.validateLength(c);var g=this.bones[this.numBones-1].end;a.setStartLocation(g);a.setEndLocation(g.plus(b.multiplyScalar(c)));this.addBone(a)}else a.isVector2&&(e=e||this.color,m.validateDirectionUV(a),m.validateLength(b),g=this.bones[this.numBones-1].end,this.addBone(new x(g,null,a.normalised(),b,c,d,e)))},getBoneConnectionPoint:function(){return this.boneConnectionPoint},getConnectedBoneNumber:function(){return this.connectedBoneNumber},
-getConnectedChainNumber:function(){return this.connectedChainNumber},getEmbeddedTarget:function(){return this.embeddedTarget},getBaseboneConstraintType:function(){return this.baseboneConstraintType},getBaseboneConstraintUV:function(){if(1!==this.baseboneConstraintType)return this.baseboneConstraintUV},getBaseLocation:function(){return this.bones[0].start},getEffectorLocation:function(){return this.bones[this.numBones-1].end},getLastTargetLocation:function(){return this.lastTargetLocation},getLiveChainLength:function(){for(var a=
-0,b=this.numBones;b--;)a+=this.bones[b].getLength();return a},setColor:function(a){this.color=a;for(a=this.numBones;a--;)this.bones[a].setColor(this.color)},setBaseboneRelativeConstraintUV:function(a){this.baseboneRelativeConstraintUV=a},setConnectedBoneNumber:function(a){this.connectedBoneNumber=a},setConnectedChainNumber:function(a){this.connectedChainNumber=a},setBoneConnectionPoint:function(a){this.boneConnectionPoint=a},setBaseboneConstraintUV:function(a){m.validateDirectionUV(a);this.baseboneConstraintUV.copy(a.normalised())},
-setBaseLocation:function(a){this.baseLocation.copy(a)},setBaseboneConstraintType:function(a){this.baseboneConstraintType=a},setFixedBaseMode:function(a){if(a||-1===this.connectedChainNumber)if(6!==this.baseboneConstraintType||a)this.fixedBaseMode=a},setMaxIterationAttempts:function(a){1>a||(this.maxIteration=a)},setMinIterationChange:function(a){0>a||(this.minIterationChange=a)},setSolveDistanceThreshold:function(a){0>a||(this.solveDistanceThreshold=a)},solveForEmbeddedTarget:function(){if(this.useEmbeddedTarget)return this.solveForTarget(this.embeddedTarget)},
-resetTarget:function(){this.lastBaseLocation=new l(Infinity,Infinity);this.currentSolveDistance=Infinity},solveForTarget:function(a){this.tmpTarget.set(a.x,a.y);a=this.precision;var b=this.lastBaseLocation.approximatelyEquals(this.baseLocation,a);if(this.lastTargetLocation.approximatelyEquals(this.tmpTarget,a)&&b)return this.currentSolveDistance;a=null;b?(b=this.bones[this.numBones-1].end.distanceTo(this.tmpTarget),a=this.cloneBones()):b=Infinity;for(var c=[],d=Infinity,e=Infinity,g,f=this.maxIteration;f--;){g=
-this.solveIK(this.tmpTarget);if(g<d){if(d=g,c=this.cloneBones(),g<=this.solveDistanceThreshold)break}else if(Math.abs(g-e)<this.minIterationChange)break;e=g}d<b?(this.currentSolveDistance=d,this.bones=c):(this.currentSolveDistance=b,this.bones=a);this.lastBaseLocation.copy(this.baseLocation);this.lastTargetLocation.copy(this.tmpTarget);return this.currentSolveDistance},solveIK:function(a){if(0!==this.numBones){for(var b,c,d,e,g,f=this.numBones;f--;)b=this.bones[f],c=b.length,f!==this.numBones-1?(d=
-this.bones[f+1],e=b.getDirectionUV().negate(),g=11===b.joint.coordinateSystem?d.getDirectionUV().negate():b.getGlobalConstraintUV().negated(),e.constrainedUV(g,d.joint.min,d.joint.max)):(b.setEndLocation(a),e=b.getDirectionUV().negate(),0<f?(g=11===b.joint.coordinateSystem?this.bones[f-1].getDirectionUV().negate():b.getGlobalConstraintUV().negated(),e.constrainedUV(g,b.joint.min,b.joint.max)):11!==b.joint.coordinateSystem&&(g=b.getGlobalConstraintUV().negated(),e.constrainedUV(g,b.joint.min,b.joint.max))),
-d=b.end.plus(e.multiplyScalar(c)),b.setStartLocation(d),0<f&&this.bones[f-1].setEndLocation(d);for(f=0;f<this.numBones;f++)b=this.bones[f],c=b.length,0!==f?(e=b.getDirectionUV(),g=11===b.joint.coordinateSystem?this.bones[f-1].getDirectionUV():b.getGlobalConstraintUV(),e.constrainedUV(g,b.joint.min,b.joint.max),c=b.start.plus(e.multiplyScalar(c)),b.setEndLocation(c),f<this.numBones-1&&this.bones[f+1].setStartLocation(c)):(this.fixedBaseMode?b.setStartLocation(this.baseLocation):(d=b.end.minus(b.getDirectionUV().multiplyScalar(c)),
-b.setStartLocation(d)),e=b.getDirectionUV(),1===this.baseboneConstraintType?(c=b.start.plus(e.multiplyScalar(c)),b.setEndLocation(c),1<this.numBones&&this.bones[1].setStartLocation(c)):(g=8===this.baseboneConstraintType?this.baseboneRelativeConstraintUV:this.baseboneConstraintUV,e.constrainedUV(g,b.joint.min,b.joint.max),c=b.start.plus(e.multiplyScalar(c)),b.setEndLocation(c),f<this.numBones-1&&this.bones[f+1].setStartLocation(c)));this.lastTargetLocation.copy(a);return this.bones[this.numBones-1].end.distanceTo(a)}},
-updateChainLength:function(){this.chainLength=0;for(var a=this.numBones;a--;)this.chainLength+=this.bones[a].length},cloneBones:function(){for(var a=[],b=0,c=this.bones.length;b<c;b++)a.push(this.bones[b].clone());return a}});Object.assign(C.prototype,{isStructure2D:!0,update:function(){for(var a,b,c,d=new THREE.Vector3,e,f=0;f<this.numChains;f++)if(a=this.chains[f],b=this.targets[f],e=a.getConnectedChainNumber(),c=a.getBaseboneConstraintType(),-1!==e&&6!==c&&(e=this.chains[e].bones[a.getConnectedBoneNumber()],
-a.setBaseLocation(20===a.getBoneConnectionPoint()?e.start:e.end),e=e.getDirectionUV(),7===c?a.setBaseboneConstraintUV(e):8===c&&(c=F.getSignedAngle(e),c=a.getBaseboneConstraintUV().clone().rotate(c),a.setBaseboneRelativeConstraintUV(c))),a.useEmbeddedTarget?a.solveForEmbeddedTarget():a.solveForTarget(b),this.isWithMesh)for(b=this.meshChains[f],e=0;e<a.numBones;e++)c=a.bones[e],b[e].position.set(c.start.x,c.start.y,0),b[e].lookAt(d.set(c.end.x,c.end.y,0))},setFixedBaseMode:function(a){this.fixedBaseMode=
-a;a=this.numChains;for(var b;a--;)b=this.chains[a].getConnectedChainNumber(),-1===b&&this.chains[a].setFixedBaseMode(this.fixedBaseMode)},clear:function(){this.clearAllBoneMesh();var a;for(a=this.numChains;a--;)this.remove(a);this.chains=[];this.meshChains=[];this.targets=[]},add:function(a,b,c){this.chains.push(a);this.targets.push(b);this.numChains++;c&&this.addChainMeshs(a)},remove:function(a){this.chains[a].clear();this.chains.splice(a,1);this.meshChains.splice(a,1);this.targets.splice(a,1);this.numChains--},
-getNumChains:function(){return this.numChains},getChain:function(a){return this.chains[a]},connectChain:function(a,b,c,d,e,f,h){d=d||"end";if(b>this.numChains)p.error("Chain not existe !");else if(c>this.chains[b].numBones)p.error("Bone not existe !");else{a=a.clone();a.setBoneConnectionPoint("end"===d?21:20);a.setConnectedChainNumber(b);a.setConnectedBoneNumber(c);b="end"===d?this.chains[b].bones[c].end:this.chains[b].bones[c].start;a.setBaseLocation(b);a.setFixedBaseMode(!0);for(c=0;c<a.numBones;c++)a.bones[c].start.add(b),
-a.bones[c].end.add(b);this.add(a,e,f)}},addChainMeshs:function(a,b){this.isWithMesh=!0;b=[];for(var c=a.bones.length,d=0;d<c;d++)b.push(this.addBoneMesh(a.bones[d]));this.meshChains.push(b)},addBoneMesh:function(a){var b=a.length,c=a.color;a=new THREE.CylinderBufferGeometry(1,.5,b,4);a.applyMatrix4((new THREE.Matrix4).makeRotationX(-m.pi90));a.applyMatrix4((new THREE.Matrix4).makeTranslation(0,0,.5*b));b=new THREE.MeshStandardMaterial({color:c,wireframe:!1,shadowSide:!1});new THREE.MeshBasicMaterial({wireframe:!0});
-b=new THREE.Mesh(a,b);b.castShadow=!0;b.receiveShadow=!0;this.scene.add(b);return b},clearAllBoneMesh:function(){if(this.isWithMesh){var a,b;for(a=this.meshChains.length;a--;){for(b=this.meshChains[a].length;b--;){var c=this.meshChains[a][b];this.scene.remove(c);c.geometry.dispose();c.material.dispose()}this.meshChains[a]=[]}this.meshChains=[]}}});Object.assign(D.prototype,{isIKSolver:!0});Object.assign(E.prototype,{isIKSolver:!0});h._Math=m;h.V2=l;h.V3=f;h.M3=y;h.Q=u;h.Joint3D=v;h.Bone3D=r;h.Chain3D=
-z;h.Structure3D=B;h.Joint2D=w;h.Bone2D=x;h.Chain2D=A;h.Structure2D=C;h.IKSolver=D;h.HISolver=E;h.REVISION="1.3.3";h.PRECISION=.001;h.PRECISION_DEG=.01;h.MAX_VALUE=Infinity;h.PI=q;h.TORAD=n;h.TODEG=G;h.NONE=1;h.GLOBAL_ROTOR=2;h.GLOBAL_HINGE=3;h.LOCAL_ROTOR=4;h.LOCAL_HINGE=5;h.GLOBAL_ABSOLUTE=6;h.LOCAL_RELATIVE=7;h.LOCAL_ABSOLUTE=8;h.J_BALL=10;h.J_LOCAL=11;h.J_GLOBAL=12;h.START=20;h.END=21;h.X_AXE=H;h.Y_AXE=I;h.Z_AXE=J;h.X_NEG=K;h.Y_NEG=L;h.Z_NEG=M;h.UP=F;h.DOWN=N;h.LEFT=O;h.RIGHT=P;Object.defineProperty(h,
-"__esModule",{value:!0})});