joint_manager.txt

--@name Joint Manager
--@author legokidlogan
--@server

--@include lkl/gcolors.txt
--@include lkl/lib_ik_old.txt
--@include lkl/extra_timers.txt
--@include lkl/simple_ratelimit.txt
--@include lkl/table_clone_deep.txt

--@include lkl/jm_default_joints.txt
--@include lkl/jm_default_poses.txt
--@include lkl/jm_default_anims.txt

----- VERY OLD -----


local tableInsert = table.insert
local stringExplode = string.explode

extraTimerPrecision = extraTimerPrecision or 2
ikDisableWire = true

require( "lkl/gcolors.txt" )
require( "lkl/lib_ik_old.txt" )
require( "lkl/extra_timers.txt" )
require( "lkl/simple_ratelimit.txt" )
require( "lkl/table_clone_deep.txt" )



-- Typical orientation definers.
-- For limb/finger-like joints, the default values given here will work best with models where Forward is the longest axis (such as with SProps)
-- These are used for defining most TrueForward/TrueRight/TrueUp values for joints, and are relative to the model's standard orientations.
vecTypicalForward = vecTypicalForward or Vector( 1, 0, 0 )
vecTypicalRight = vecTypicalRight or Vector( 0, 1, 0 )
vecTypicalUp = vecTypicalUp or Vector( 0, 0, 1 )

-- Typical orientation definers, but for joints on the left side of the body.
-- Usually these are the same as the non-mirrored directions, except the up direction is reversed.
vecMirrorForward = vecMirrorForward or vecTypicalForward
vecMirrorRight = vecMirrorRight or vecTypicalRight
vecMirrorUp = vecMirrorUp or -vecTypicalUp


-- Typical inverse-kinimatics points.
-- These are relative to the joint's 'true' orientations, and are scaled by half of the object's box size.
-- It's highly unlikely that you will need to modify these, but you still can.
vecTypicalIKOrigin = vecTypicalIKOrigin or Vector( -1, 0, 0 )
vecTypicalIKEnd = vecTypicalIKEnd or Vector( 1, 0, 0 )

vecMirrorIKOrigin = vecMirrorIKOrigin or Vector( -1, 0, 0 )
vecMirrorIKEnd = vecMirrorIKEnd or Vector( 1, 0, 0 )


--[[
    NOTE: Like the rest of my starfall scripts, you MUST handle wire inputs and outputs like this with global tables:
        inputNames = inputNames or {}
        inputTypes = inputTypes or {}
        outputNames = outputNames or {}
        outputTypes = outputTypes or {}

        table.insert( inputNames, "Blah" )
        table.insert( inputTypes, "Blah" )

        table.insert( outputNames, "Blah" )
        table.insert( outputTypes, "Blah" )

        require( "lkl/blah.txt" )

        wire.adjustInputs( inputNames, inputTypes )
        wire.adjustOutputs( outputNames, outputTypes )
    -- This allows for dependencies to add onto the wire ports safely and easily.
--]]


-- Config:
    -- Each chip will likely have wildly different joint configs to handle a specific setup and design.
    -- In the parent chip include'ing this file, make sure to define jointConfig as a non-local table before require()'ing this.
    -- Whether you define the three config tables directly in the parent chip or via an include, MAKE SURE YOU SET THE CONFIGS BEFORE THIS FILE GETS require()'d !
        -- Additionally, do not try to modify the configs after this file has been require()'d, the new info will NOT get applied.
    -- NEVER put two consecutive underscores ("__") in the names for your joints, as it is used for wire indexing.
    -- To attach a joint to one of the non-joint bases, set  Parent = "BASE__baseID", where baseID is that base's order in the wire inputs.
        -- It's recommended to have bases be models/hunter/plates/plate.mdl or something similar.

    -- Default config:
    jointConfig = jointConfig or {
        NumBases = 1,
        SeparateInputs = true, -- Whether the inputs for joints should be separated or combined into a single array input. For the array, the order matches the order used for the jointConfig.
        UpdateInterval = 100, -- Update rate for the joints, in milliseconds. A smaller number means smoother joints, but more CPU usage and server lag. Min value is 15, as servers with a tickrate of 66 cannot go faster.
        UpdateIntervalHoldables = 100, -- UpdateInterval, but for holdables.
        QuotaCheckMult = 1, -- Multiplies against CPU quota checks, lower values mean JM will try to stay below a lower threshold. Recommended to not touch.
    }

    -- These three are *very* important configs for setting up the bone structure, poses, and animations. There are examples of each in the provided files. Make sure to define these tables globaly!
    jointInfos = jointInfos or require( "lkl/jm_default_joints.txt" )
    jointPoses = jointPoses or require( "lkl/jm_default_poses.txt" )
    jointAnims = jointAnims or require( "lkl/jm_default_anims.txt" )

-- End Config

local mMax = math.max
local mMin = math.min
local mClamp = math.clamp
local mAbs = math.abs
local mSign = math.sign
local mSqrt = math.sqrt
local mFloor = math.floor

local tableEmpty = table.empty

local realtime = timer.realtime

local timerCreateExtra = timer.createExtra
local timerSimpleExtra = timer.simpleExtra
local timerRemoveExtra = timer.removeExtra

local cpuAverage = cpuAverage
local cpuTotalAverage = cpuTotalAverage

projectNameID = projectNameID or "JointManager." .. chip():entIndex()

inputNames = inputNames or {}
inputTypes = inputTypes or {}

jointEnts = jointEnts or {}
jointLookup = jointLookup or {}
jointNameToID = jointNameToID or {}
jointBaseEnts = jointBaseEnts or {}
jointHoldables = jointHoldables or {}
jointHoldableLookup = jointHoldableLookup or {}
jointHoldableCount = #jointHoldables
jointActivePoses = jointActivePoses or {}
jointActiveAnims = jointActiveAnims or {}
jointRemoteFuncs = jointRemoteFuncs or {}
jointAnimDurationTotals = jointAnimDurationTotals or {}
--jointManips = jointManips or {}
jointRemotePrefix = "LKL_JointManager_RemoteFunc_"

local initialized = false
local forceTPose = false
local nextIndManip = 1
local nextIndHoldable = 1
local prevManipProcessTime = realtime()
local prevHodableProcessTime = realtime()
local numBases = jointConfig.NumBases or 1
local separateInputs = jointConfig.SeparateInputs
local updateInterval = jointConfig.UpdateInterval or 50
local updateIntervalHoldables = jointConfig.UpdateIntervalHoldables or 50
local quotaMaxVal = cpuMax() * mClamp( jointConfig.QuotaCheckMult or 1, 0, 1 )
--local jointInfos = jointConfig.Joints
local jointCount = #jointInfos
local jointsWithBaseParents = {}
local jointsWithBaseParentsCount = 0
local jointManips = {}
--local jointManipOrders = {} --------------------------------------
--local jointManipOrderLookup = {} --------------------------------------
local jointPosesFormatted = {}
local jointAnimKFPosesFormatted = {}
local jointAnimKFManipsFormatted = {}
local jointAnimKFHoldablesFormatted = {}
local jointAnimCurrentKeyframes = {}
local wireEnts = {}
local wireNames = {}
--local jointHoldableParams = {}

local printName = "[" .. projectNameID .. "]"
local chipLink = wire.getWirelink( chip() )
local ang0 = Angle( 0, 0, 0 )
local vecRightNeg = Vector( 1, -1, 1 )
local vecForward = Vector( 1, 0, 0 )
local vecRight = Vector( 0, 1, 0 )
local vecUp = Vector( 0, 0, 1 )

updateInterval = mMax( updateInterval, 15 ) / 1000
updateIntervalHoldables = mMax( updateIntervalHoldables, 15 ) / 1000


local function getInputInfo( name )
    if type( name ) ~= "string" then return end

    local info = stringExplode( "__", name )
    local id = info[2]

    if id then
        id = tonumber( id )

        if id < 1 then
            id = false
        end
    end

    return info[1], id, info[3]
end

local function addRemoteFunc( funcName, func )
    jointRemoteFuncs[jointRemotePrefix .. funcName] = func
end

local function getKeyframeOrCopy( animData, kfInd, kfData, prevInds )
    kfData = kfData or animData[kfInd] or {}
    prevInds = prevInds or {}

    local copyInd = kfData.CopyInd

    if not copyInd then return kfData end

    --prevInds[copyInd] = true

    --if prevInds[kfInd] then return {} end -- Avoid circular copy loops
    if prevInds[copyInd] then return kfData end -- Avoid circular copy loops

    prevInds[copyInd] = true

    if not kfData.CopyComplete then
        local overrideData = kfData.OverrideData
        local sourceData = getKeyframeOrCopy( animData, copyInd, nil, prevInds )

        kfData = table.cloneDeep( sourceData )
        animData[kfInd] = kfData

        if overrideData then
            for key, value in pairs( overrideData ) do
                kfData[key] = value
            end

            kfData.OverrideData = overrideData
        end

        kfData.CopyInd = copyInd
        kfData.CopyComplete = true
    end

    return kfData
end


do
    tableInsert( inputNames, "Holdables" )
    tableInsert( inputTypes, "ARRAY" )

    for i = 1, numBases do
        tableInsert( inputNames, "Base__" .. i )
        tableInsert( inputTypes, "ENTITY" )
    end

    for i = 1, jointCount do
        local jointInfo = jointInfos[i]
        local name = jointInfo.Name
        local parentName, parentBaseID = getInputInfo( jointInfo.Parent )

        if parentName == "BASE" then
            if not parentBaseID then
                parentBaseID = 1
                jointInfo.Parent = "BASE__" .. parentBaseID
            end

            jointInfo.ParentIsBase = true
            jointInfo.ParentBaseID = parentBaseID

            jointsWithBaseParentsCount = jointsWithBaseParentsCount + 1
            jointsWithBaseParents[jointsWithBaseParentsCount] = i
        else
            jointInfo.ParentID = false
            jointInfo.ParentIsBase = false
        end

        local trueForward = jointInfo.TrueForward
        local trueRight = jointInfo.TrueRight
        local trueUp = jointInfo.TrueUp
        local forwardModified = trueForward ~= Vector( 1, 0, 0 )
        local rightModified = trueRight ~= Vector( 0, -1, 0 )
        local upModified = trueUp ~= Vector( 0, 0, 1 )

        jointNameToID[name] = i
        jointInfo.ID = i
        jointInfo.ForwardModified = forwardModified
        jointInfo.RightModified = rightModified
        jointInfo.UpModified = upModified
    end

    for i = 1, jointCount do
        local jointInfo = jointInfos[i]
        local parentName = getInputInfo( jointInfo.Parent )

        if not jointInfo.ParentIsBase then
            jointInfo.ParentID = jointInfo.ParentID or jointNameToID[parentName] or 1
        end
    end

    for animName, animData in pairs( jointAnims ) do
        local durationTotal = 0

        for kfInd, kfData in pairs( animData ) do
            if type( kfData ) == "table" then
                kfData = getKeyframeOrCopy( animData, kfInd, kfData )

                durationTotal = durationTotal + ( kfData.Duration or 0 )
            end
        end

        jointAnimDurationTotals[animName] = durationTotal
    end

    if separateInputs then
        for i = 1, jointCount do
            local jointInfo = jointInfos[i]

            tableInsert( inputNames, "Joint__" .. i .. "__" .. jointInfo.Name )
            tableInsert( inputTypes, "ENTITY" )
        end
    else
        tableInsert( inputNames, "Joints" )
        tableInsert( inputTypes, "ARRAY" )
    end

    wire.adjustInputs( inputNames, inputTypes )
end

local function quotaAlert( msg )
    print(
        c_white, printName .. " ",
        c_alert_red, "Exceeded perf limits on ",
        c_pale_yellow, msg
    )
end

local function getUsageLimit( frac )
    frac = frac or 0.9

    local myUsage = cpuAverage()
    local otherChipsUsage = cpuTotalAverage() - myUsage

    return quotaMaxVal * frac - otherChipsUsage
end

local function checkQuota( usageLimit, msg )
    local belowQuota = cpuAverage() < usageLimit
    if belowQuota or not msg then return belowQuota end

    simpleRatelimit( quotaAlert, 1, "QuotaExceeded__" .. msg, msg )
end

local function formatPose( poseName ) -- Prepares a pose for faster usage with manipulateJoints(), doing it on the fly for faster startup times (and coroutines are a hassle)
    local poseForm = jointPosesFormatted[poseName]

    if poseForm then return poseForm end

    local poseData = jointPoses[poseName]
    local poseIDs = {}
    local poseAngs = {}
    local count = 0

    for jointName, ang in pairs( poseData ) do
        count = count + 1

        poseIDs[count] = jointName
        poseAngs[count] = ang
    end

    poseForm = {
        IDs = poseIDs,
        Angs = poseAngs
    }

    jointPosesFormatted[poseName] = poseForm

    return poseForm
end

local function createHoldableParamFuncGen( func, holdInd, endAtTime )
    if type( func ) ~= "function" then return  function() return func end  end

    if endAtTime then
        return function( isReverse )
            if isReverse then
                return function( timeEx, parent )
                    timeEx = endAtTime - timeEx

                    if timeEx >= endAtTime then
                        setHoldableParams( holdInd, false )

                        return nil
                    end

                    return func( timeEx, parent )
                end
            end

            return function( timeEx, parent )
                if timeEx >= endAtTime then
                    setHoldableParams( holdInd, false )

                    return nil
                end

                return func( timeEx, parent )
            end
        end
    end

    return function( isReverse )
        if isReverse then
            return function( timeEx, parent )
                return func( -timeEx, parent )
            end
        end

        return func
    end
end

local function formatKeyframe( animName, kfInd )
    if not animName then return end

    local animData = jointAnims[animName]

    if not animData then return end

    local kfData = getKeyframeOrCopy( animData, kfInd )

    local kfDuration = mAbs( kfData.Duration or 0 )
    local numKeyframes = animData.Count or #animData

    if kfDuration == 0 then return end

    local animPoseForms = jointAnimKFPosesFormatted[animName]
    local animManipForms = jointAnimKFManipsFormatted[animName]
    local animHoldableForms = jointAnimKFHoldablesFormatted[animName]

    if not animPoseForms then
        animPoseForms = {}
        jointAnimKFPosesFormatted[animName] = animPoseForms
    end

    if not animManipForms then
        animManipForms = {}
        jointAnimKFManipsFormatted[animName] = animManipForms
    end

    if not animHoldableForms then
        animHoldableForms = {}
        jointAnimKFHoldablesFormatted[animName] = animHoldableForms
    end

    local kfPoseForms = animPoseForms[kfInd]
    local kfManipForms = animManipForms[kfInd]
    local kfHoldableForms = animHoldableForms[kfInd]

    if kfPoseForms or kfManipForms or kfHoldableForms then return kfPoseForms, kfManipForms, kfHoldableForms end -- Anim has already been formatted previously

    -- Format pose for keyframe (primarily just clamp and store time values to fit into keyframes)
    local kfPoses = kfData.Poses or {}
    local poseCount = 0
    kfPoseForms = {}

    for poseName, poseArgs in pairs( kfPoses ) do
        if not jointPoses[poseName] then continue end

        local poseSmoothTime = ( poseArgs.SmoothTime or kfDuration )
        local poseDuration = ( poseArgs.Duration or kfDuration )

        poseSmoothTime = mClamp( poseSmoothTime, -kfDuration, kfDuration )
        poseDuration = mClamp( poseDuration, -kfDuration, kfDuration )

        --[[
        if poseDuration == 0 then
            poseDuration = kfDuration
        end
        --]]

        poseCount = poseCount + 1
        kfPoseForms[poseCount] = {
            Name = poseName,
            SmoothTime = poseSmoothTime,
            Duration = poseDuration,
            FlexScale = poseArgs.FlexScale or 1,
            ForceIsOverride = poseArgs.ForceIsOverride,
        }
    end

    kfPoseForms.Count = poseCount
    animPoseForms[kfInd] = kfPoseForms

    -- Format manips for keyframe
    local kfManips = {}
    local manipIDs = {}
    local manipAngs = {}
    local manipAngsByName = {}
    local manipPrevAngs = {}
    local manipPrevAngsByName = {}
    local manipSmoothTimes = {}
    --local manipDurations = {}
    --local manipFlexScales = {}
    local manipIsOverrides = {}
    local manipDisableVals = {}
    local manipCount = 0

    kfManips = table.cloneDeep( kfData.Manips or kfData.Manipulations or {} )
    kfData.EffManips = kfManips -- Don't override original data when adjusting info to account for previous keyframes

    if kfInd > 1 then

        local _, prevKfManipForms = formatKeyframe( animName, kfInd - 1 )

        manipPrevAngs = table.cloneDeep( prevKfManipForms.Angs ) -- Don't touch the target angles of the previous keyframe
        manipPrevAngsByName = table.cloneDeep( prevKfManipForms.AngsByName )

        -- This keyframe should smoothly 'reset' hanging manips from the previous frame, so add more target angles for this frame
        for jointName, manipArgs in pairs( manipPrevAngsByName ) do
            if not kfManips[jointName] and ( manipArgs.Ang or ang0 ) ~= ang0 then
                kfManips[jointName] = {
                    Ang = Angle( 0, 0, 0 ),
                    SmoothTime = kfDuration,
                    --Duration = kfDuration,
                    --FlexScale = 1,
                    IsOverride = manipArgs.IsOverride,
                }
            end
        end
    end

    for jointName, manipArgs in pairs( kfManips ) do
        local manipSmoothTime = mAbs( manipArgs.SmoothTime or kfDuration )
        --local manipDuration = mAbs( manipArgs.Duration or kfDuration )
        local ang = manipArgs.Ang or Angle( 0, 0, 0 )

        --[[
        manipDuration = mMin( manipDuration, kfDuration )

        if manipDuration == 0 then
            manipDuration = kfDuration
        end
        --]]

        --manipSmoothTime = mMin( manipSmoothTime, manipDuration )
        manipSmoothTime = mMin( manipSmoothTime, kfDuration )

        manipCount = manipCount + 1
        manipIDs[manipCount] = jointName
        manipAngs[manipCount] = ang
        manipAngsByName[jointName] = ang
        manipSmoothTimes[manipCount] = manipSmoothTime
        --manipDurations[manipCount] = manipDuration
        --manipFlexScales[manipCount] = manipArgs.FlexScale or 1
        manipIsOverrides[manipCount] = manipArgs.IsOverride
        manipDisableVals[manipCount] = -1

        if kfInd == 1 then
            manipPrevAngsByName[jointName] = Angle( 0, 0, 0 )
            manipPrevAngs[manipCount] = Angle( 0, 0, 0 )
        elseif not manipPrevAngsByName[jointName] then -- Ensure our initial and target angle lists have matching counts
            manipPrevAngsByName[jointName] = Angle( 0, 0, 0 )
            tableInsert( manipPrevAngs, Angle( 0, 0, 0 ) )
        end
    end

    kfManipForms = {
        Count = manipCount,
        IDs = manipIDs,
        Angs = manipAngs,
        AngsByName = manipAngsByName,
        PrevAngs = manipPrevAngs,
        PrevAngsByName = manipPrevAngsByName,
        SmoothTimes = manipSmoothTimes,
        --Durations = manipDurations,
        --FlexScales = manipFlexScales,
        IsOverrides = manipIsOverrides,
        DisableVals = manipDisableVals,
    }
    animManipForms[kfInd] = kfManipForms

    -- Format holdable params for keyframe
    local kfHolds = kfData.HoldParams or kfData.HoldableParams or kfData.HoldableParameters or kfData.HoldParameters or {}
    local holdCount = 0
    kfHoldableForms = {}

    for holdInd, holdArgs in pairs( kfHolds ) do
        local posFunc = holdArgs.Pos or holdArgs.PosFunc
        local angFunc = holdArgs.Ang or holdArgs.AngFunc
        local endWithKeyframe = holdArgs.EndWithKeyframe
        local endWithAnim = holdArgs.EndWithAnim
        local endAtTime

        if endWithKeyframe then
            endAtTime = kfDuration
        elseif endWithAnim then
            endAtTime = kfDuration

            for i = kfInd + 1, numKeyframes do
                local otherKfData = animData[i] or {}
                endAtTime = endAtTime + mAbs( otherKfData.Duration or 0 )
            end
        end

        local posFuncGen = createHoldableParamFuncGen( posFunc, holdInd, endAtTime )
        local angFuncGen = createHoldableParamFuncGen( angFunc, holdInd, endAtTime )

        holdCount = holdCount + 1
        kfHoldableForms[holdCount] = {
            HoldableInd = holdInd,
            JointIdentifier = holdArgs.JointIdentifier,
            PosFuncGen = posFuncGen,
            AngFuncGen = angFuncGen,
        }
    end

    kfHoldableForms.Count = holdCount
    animHoldableForms[kfInd] = kfHoldableForms

    return kfPoseForms, kfManipForms, kfHoldableForms
end


-- Clears the cached data for a given pose (or all if provided nil) so you can edit the pose somewhat on the fly.
-- Expect abnormal behavior if you run this while the pose is actively playing. This is mainly intended for things like a pose/animation creator.
-- Poses get cached whenever they get called upon.
function jointClearPoseCache( poseName )
    if not poseName then
        tableEmpty( jointPosesFormatted )

        return
    end

    jointPosesFormatted[poseName] = nil
end
addRemoteFunc( "JointClearPoseCache", jointClearPoseCache )

-- Same as jointClearPoseCache(), but for animations.
function jointClearAnimCache( animName )
    if not animName then
        tableEmpty( jointAnimKFPosesFormatted )
        tableEmpty( jointAnimKFManipsFormatted )
        tableEmpty( jointAnimKFHoldablesFormatted )
        tableEmpty( jointAnimDurationTotals )

        return
    end

    jointAnimKFPosesFormatted[animName] = nil
    jointAnimKFManipsFormatted[animName] = nil
    jointAnimKFHoldablesFormatted[animName] = nil
    jointAnimDurationTotals[animName] = nil
end
addRemoteFunc( "JointClearAnimCache", jointClearAnimCache )

function jointUnparentChildren( ent )
    local children = ent.jointChildren

    if not children then return end

    for k, v in pairs( children ) do -- Will unparent regardless of the table using numerical or ent indeces
        if type( k ) == "Entity" and isValid( k ) then
            k:setParent( nil )
        elseif type( v ) == "Entity" and isValid( v ) then
            v:setParent( nil )
        end
    end
end
addRemoteFunc( "JointUnparentChildren", jointUnparentChildren )

function jointParentChildren( ent )
    if not isValid( ent ) then return end

    local children = ent.jointChildren

    if not children then return end

    for k, v in pairs( children ) do -- Will parent regardless of the table using numerical or ent indeces
        if type( k ) == "Entity" and isValid( k ) then
            k:setParent( nil )
            k:setParent( ent )
        elseif type( v ) == "Entity" and isValid( v ) then
            v:setParent( nil )
            v:setParent( ent )
        end
    end
end
addRemoteFunc( "JointParentChildren", jointParentChildren )

function jointIDAndEntFromAny( jointEntOrNameOrInd )
    local id
    local joint
    local jointInputType = type( jointEntOrNameOrInd )

    if jointInputType == "number" then
        id = jointEntOrNameOrInd
        joint = jointEnts[id]
    elseif jointInputType == "string" then
        id = jointNameToID[jointEntOrNameOrInd]
        joint = jointEnts[id]
    elseif jointInputType == "Entity" then
        joint = jointEntOrNameOrInd
        id = jointLookup[joint]
    end

    return id, isValid( joint ) and joint
end
addRemoteFunc( "JointIDAndEntFromAny", jointIDAndEntFromAny )

function jointGetTrueDirs( ent, jointInfo, skipForward, skipRight, skipUp )
    if not isValid( ent ) then return end

    jointInfo = jointInfo or ent.jointInfo

    if not jointInfo then
        return ent:getForward(), ent:getRight(), ent:getUp()
    end

    local trueForward
    local trueRight
    local trueUp

    if not skipForward and jointInfo.ForwardModified then
        trueForward = ent:getForward():rotateAroundAxis( jointInfo.ForwardAdjustAxis, jointInfo.ForwardAdjustDeg )
    else
        trueForward = ent:getForward()
    end

    if not skipRight and jointInfo.RightModified then
        trueRight = ent:getRight():rotateAroundAxis( jointInfo.RightAdjustAxis, jointInfo.RightAdjustDeg )
    else
        trueRight = ent:getRight()
    end

    if not skipUp and jointInfo.UpModified then
        trueUp = ent:getUp():rotateAroundAxis( jointInfo.UpAdjustAxis, jointInfo.UpAdjustDeg )
    else
        trueUp = ent:getUp()
    end

    return trueForward, trueRight, trueUp
end
addRemoteFunc( "JointGetTrueDirs", jointGetTrueDirs )

function convertTrueLocalToStandardLocal( ent, locPos )
    if not isValid( ent ) then return locPos end
    if not locPos then return locPos end

    local jointInfo = ent.jointInfo

    if not jointInfo then
        return locPos
    end

    local forwardAxis = jointInfo.TrueForward or vecForward
    local rightAxis = jointInfo.TrueRight or vecRight
    local upAxis = jointInfo.TrueUp or vecUp

    return locPos[1] * forwardAxis + locPos[2] * rightAxis + locPos[3] * upAxis
end
addRemoteFunc( "ConvertTrueLocalToStandardLocal", convertTrueLocalToStandardLocal )

function convertStandardLocalToTrueLocal( ent, locPos )
    if not isValid( ent ) then return locPos end
    if not locPos then return locPos end

    local jointInfo = ent.jointInfo

    if not jointInfo then
        return locPos
    end

    local forwardAxis = jointInfo.TrueForward or vecForward
    local rightAxis = jointInfo.TrueRight or vecRight
    local upAxis = jointInfo.TrueUp or vecUp

    return Vector( locPos:dot( forwardAxis ), locPos:dot( rightAxis ), locPos:dot( upAxis ) )
end
addRemoteFunc( "ConvertStandardLocalToTrueLocal", convertStandardLocalToTrueLocal )

function intendedWorldAngToJointAng( jointIdentifier, worldAng )
    local _, joint = jointIDAndEntFromAny( jointIdentifier )

    if not joint then return end

    local parent = joint.jointParent

    if not isValid( parent ) then return end

    local parentPos = parent:getPos()
    local rotAxisWorldPitch = parent:localToWorld( joint.jointRotAxisPitch ) - parentPos
    local rotAxisWorldYaw = parent:localToWorld( joint.jointRotAxisYaw ) - parentPos
    local rotAxisWorldRoll = parent:localToWorld( joint.jointRotAxisRoll ) - parentPos

    local initAng = parent:localToWorldAngles( joint.jointInitAngStandard )

    local CQ = initAng:getQuaternion()
    local TQ = worldAng:getQuaternion()
    local Q = TQ / CQ
    local rotAxis = Q:getRotationAxis()
    local rotAmount = Q:getRotationAngle()

    local finalAng = Angle(
        rotAmount * rotAxis:dot( rotAxisWorldPitch ),
        rotAmount * rotAxis:dot( rotAxisWorldYaw ),
        rotAmount * rotAxis:dot( rotAxisWorldRoll )
    )

    return finalAng
end
addRemoteFunc( "IntendedWorldAngToJointAng", intendedWorldAngToJointAng )

local function getIKUpAndBend( joint, parent, lineDir, tiltDeg )
    tiltDeg = tiltDeg or 0

    local parentPos = parent:getPos()
    local initUpDir = parent:localToWorld( joint.jointRotAxisYaw ) - parentPos

    local ikUpDir = initUpDir:rotateAroundAxis( lineDir, -tiltDeg )
    local bendDir = lineDir:cross( ikUpDir )
    local bendLengthCheck = bendDir[1]^2 + bendDir[2]^2 + bendDir[3]^2

    if bendLengthCheck ~= 1 then -- If parentAUp and lineDir are not perpendicular, bendDir isn't a unit vector and needs to be fixed
        bendDir = bendDir / mSqrt( bendLengthCheck )
    end

    return ikUpDir, bendDir
end

local function getIKJointAng( joint, parent, _targetOriginPos, targetEndPos, ikUpDir )
    local parentPos = parent:getPos()
    local hingePosWorld = parent:localToWorld( joint.jointHingePosFromParent )
    local rotAxisWorldPitch = parent:localToWorld( joint.jointRotAxisPitch ) - parentPos
    local rotAxisWorldYaw = parent:localToWorld( joint.jointRotAxisYaw ) - parentPos
    local rotAxisWorldRoll = parent:localToWorld( joint.jointRotAxisRoll ) - parentPos

    local initEndPosWorld = parent:localToWorld( joint.jointIKEndFromParent )
    local initHingeToEndAngWorld = ( initEndPosWorld - hingePosWorld ):getAngleEx( rotAxisWorldYaw )

    local targetHingeToEndAngWorld = ( targetEndPos - hingePosWorld ):getAngleEx( ikUpDir )


    local CQ = initHingeToEndAngWorld:getQuaternion()
    local TQ = targetHingeToEndAngWorld:getQuaternion()
    local Q = TQ / CQ
    local rotAxis = Q:getRotationAxis()
    local rotAmount = Q:getRotationAngle()

    --local initAngWorld = parent:localToWorldAngles( joint.jointInitAngStandard )
    --local intendedAngWorld = initAngWorld:rotateAroundAxis( rotAxis, rotAmount )

    local finalAng = Angle(
        rotAmount * rotAxis:dot( rotAxisWorldPitch ),
        rotAmount * rotAxis:dot( rotAxisWorldYaw ),
        rotAmount * rotAxis:dot( rotAxisWorldRoll )
    )

    return finalAng
    --return finalAng, intendedAngWorld
end

--[[

--]]
function jointTwoSegIK( jointIdentifierA, jointIdentifierB, endPos, tiltDeg )
    local _, jointA = jointIDAndEntFromAny( jointIdentifierA )
    local _, jointB = jointIDAndEntFromAny( jointIdentifierB )

    if not jointA or not jointB then return end

    local parentA = jointA.jointParent
    local parentB = jointB.jointParent

    if not isValid( parentA ) or not isValid( parentB ) then return end -- ALL joints should have a valid parent if you're moving them!

    local startPos = parentA:localToWorld( jointA.jointIKOriginFromParent )
    local lineDir = endPos - startPos
    local L = lineDir:getLength()
    local LA = jointA.jointIKLength
    local LB = jointB.jointIKLength

    lineDir = lineDir / L

    local ikUpDir, bendDir = getIKUpAndBend( jointA, parentA, lineDir, tiltDeg )
    local bendPos = ikTwoSeg( startPos, endPos, LA, LB, bendDir, lineDir, L )

    local tiltSign = tiltDeg == 0 and 1 or mSign( tiltDeg )

    ikUpDir = ( bendPos - startPos ):cross( ikUpDir ):getNormalized() * tiltSign

    local finalAngA = getIKJointAng( jointA, parentA, startPos, bendPos, ikUpDir )
    local finalAngB = getIKJointAng( jointB, parentB, bendPos, endPos, ikUpDir )

    return finalAngA, finalAngB, bendPos
end
addRemoteFunc( "JointTwoSegIK", jointTwoSegIK )

--[[

--]]
function jointThreeSegIK( jointIdentifierA, jointIdentifierB, jointIdentifierC, endPos, LX, tiltDeg1, tiltDeg2 )
    local _, jointA = jointIDAndEntFromAny( jointIdentifierA )
    local _, jointB = jointIDAndEntFromAny( jointIdentifierB )
    local _, jointC = jointIDAndEntFromAny( jointIdentifierC )

    if not jointA or not jointB or not jointC then return end

    local parentA = jointA.jointParent
    local parentB = jointB.jointParent
    local parentC = jointC.jointParent

    if not isValid( parentA ) or not isValid( parentB ) or not isValid( parentC ) then return end -- ALL joints should have a valid parent if you're moving them!

    --local startPos = jointA:localToWorld( jointA.jointIKOrigin )
    local startPos = parentA:localToWorld( jointA.jointIKOriginFromParent )
    local lineDir1 = endPos - startPos
    local L1 = lineDir1:getLength()
    local LA = jointA.jointIKLength
    local LB = jointB.jointIKLength
    local LC = jointC.jointIKLength

    lineDir1 = lineDir1 / L1

    local ikUpDir1, bendDir1 = getIKUpAndBend( jointA, parentA, lineDir1, tiltDeg1 )
    local bendPos1 = ikTwoSeg( startPos, endPos, LA, LX, bendDir1, lineDir1, L1 )

    local lineDir2 = endPos - bendPos1
    local L2 = LX
    lineDir2 = lineDir2 / L2

    local ikUpDir2, bendDir2 = getIKUpAndBend( jointB, parentB, lineDir2, tiltDeg2 )
    local bendPos2 = ikTwoSeg( bendPos1, endPos, LB, LC, bendDir2, lineDir2, L2 )

    local tiltSign1 = tiltDeg1 == 0 and 1 or mSign( tiltDeg1 )
    local tiltSign2 = tiltDeg2 == 0 and 1 or mSign( tiltDeg2 )

    ikUpDir1 = ( bendPos1 - startPos ):cross( ikUpDir1 ):getNormalized() * tiltSign1
    ikUpDir2 = ( bendPos2 - bendPos1 ):cross( ikUpDir2 ):getNormalized() * tiltSign2

    local finalAngA = getIKJointAng( jointA, parentA, startPos, bendPos1, ikUpDir1 )
    local finalAngB = getIKJointAng( jointB, parentB, bendPos1, bendPos2, ikUpDir2 )
    local finalAngC = getIKJointAng( jointC, parentC, bendPos2, endPos, ikUpDir2 )

    return finalAngA, finalAngB, finalAngC, bendPos1, bendPos2
end
addRemoteFunc( "JointThreeSegIK", jointThreeSegIK )

--[[

--]]
function jointFourSegIK( jointIdentifierA, jointIdentifierB, jointIdentifierC, jointIdentifierD, endPos, LX1, LX2, tiltDeg1, tiltDeg2, tiltDeg3 )
    local _, jointA = jointIDAndEntFromAny( jointIdentifierA )
    local _, jointB = jointIDAndEntFromAny( jointIdentifierB )
    local _, jointC = jointIDAndEntFromAny( jointIdentifierC )
    local _, jointD = jointIDAndEntFromAny( jointIdentifierD )

    if not jointA or not jointB or not jointC or not jointD then return end

    local parentA = jointA.jointParent
    local parentB = jointB.jointParent
    local parentC = jointC.jointParent
    local parentD = jointD.jointParent

    if not isValid( parentA ) or not isValid( parentB ) or not isValid( parentC ) or not isValid( parentD ) then return end -- ALL joints should have a valid parent if you're moving them!

    local startPos = parentA:localToWorld( jointA.jointIKOriginFromParent )
    local lineDir1 = endPos - startPos
    local L1 = lineDir1:getLength()
    local LA = jointA.jointIKLength
    local LB = jointB.jointIKLength
    local LC = jointC.jointIKLength
    local LD = jointD.jointIKLength

    lineDir1 = lineDir1 / L1

    local ikUpDir1, bendDir1 = getIKUpAndBend( jointA, parentA, lineDir1, tiltDeg1 )
    local bendPos1 = ikTwoSeg( startPos, endPos, LA, LX1, bendDir1, lineDir1, L1 )

    local lineDir2 = endPos - bendPos1
    local L2 = LX1
    lineDir2 = lineDir2 / L2

    local ikUpDir2, bendDir2 = getIKUpAndBend( jointB, parentB, lineDir2, tiltDeg2 )
    local bendPos2 = ikTwoSeg( bendPos1, endPos, LB, LX2, bendDir2, lineDir2, L2 )

    local lineDir3 = endPos - bendPos2
    local L3 = LX2
    lineDir3 = lineDir3 / L3

    local ikUpDir3, bendDir3 = getIKUpAndBend( jointC, parentC, lineDir3, tiltDeg3 )
    local bendPos3 = ikTwoSeg( bendPos2, endPos, LC, LD, bendDir3, lineDir3, L3 )

    local tiltSign1 = tiltDeg1 == 0 and 1 or mSign( tiltDeg1 )
    local tiltSign2 = tiltDeg2 == 0 and 1 or mSign( tiltDeg2 )
    local tiltSign3 = tiltDeg3 == 0 and 1 or mSign( tiltDeg3 )

    ikUpDir1 = ( bendPos1 - startPos ):cross( ikUpDir1 ):getNormalized() * tiltSign1
    ikUpDir2 = ( bendPos2 - bendPos1 ):cross( ikUpDir2 ):getNormalized() * tiltSign2
    ikUpDir3 = ( bendPos3 - bendPos2 ):cross( ikUpDir3 ):getNormalized() * tiltSign3

    local finalAngA = getIKJointAng( jointA, parentA, startPos, bendPos1, ikUpDir1 )
    local finalAngB = getIKJointAng( jointB, parentB, bendPos1, bendPos2, ikUpDir2 )
    local finalAngC = getIKJointAng( jointC, parentC, bendPos2, bendPos3, ikUpDir3 )
    local finalAngD = getIKJointAng( jointD, parentD, bendPos3, endPos, ikUpDir3 )

    return finalAngA, finalAngB, finalAngC, finalAngD, bendPos1, bendPos2, bendPos3
end
addRemoteFunc( "JointFourSegIK", jointFourSegIK )

--[[
    entOrInd:
        - A holdableEnt entity or its wire input index
    jointEntOrNameOrInd:
        - Any entity (including non-joint ents, though not recommended), or the name or numerical ID of a joint.
            - Will parent the holdable to that entity, and use pos as local coords. Will automatically utilize any orientation redefinitions you gave in jointConfig for that joint.
            - If jointEntOrNameOrInd is not valid, will deparent the holdable and use world coords.
    pos: (optional)
        - A vector or  function( timeEx, parent ) return VECTOR end  where timeEx is the time passed since this parameter was set, in seconds.
        - If the holdable is given a valid parent entity (as described above), then pos will be in local coords (using orient. redef. if applicable). Otherwise, it will be world coords.
        - If pos as a function returns false, then it will not change the holdable's position. If it returns nil, it will remove the function (to make it easier to discard when finished).
    ang: (optional)
        - An angle or  function( timeEx, parent ) return ANGLE end  where timeEx is the time passed since this parameter was set, in seconds.
        - Will always be in world coords.
        - If ang as a function returns false, then it will not change the holdable's angles. If it returns nil, it will remove the function (to make it easier to discard when finished).
--]]
function setHoldableParams( entOrInd, jointEntOrNameOrInd, pos, ang )
    local ent

    if type( entOrInd ) == "Entity" then
        if not isValid( entOrInd ) or not jointHoldableLookup( entOrInd ) then return end

        ent = entOrInd
    else
        ent = jointHoldables[entOrInd]

        if not isValid( ent ) then return end
    end

    local _, parent = jointIDAndEntFromAny( jointEntOrNameOrInd )
    local oldParent = ent.jointHoldParent or ent:getParent()
    local parentIsJoint = true
    oldParent = isValid( oldParent ) and oldParent or nil

    if not parent then
        parent = isValid( jointEntOrNameOrInd ) and jointEntOrNameOrInd
        parentIsJoint = false
    end

    if oldParent ~= parent and isValid( oldParent ) then
        ent:setParent( nil )
        ent.jointHoldParent = nil

        local childrenTbl = oldParent.jointChildren

        if childrenTbl then
            childrenTbl[ent] = nil
        end
    end

    if parent then
        ent:setParent( parent )
        ent.jointHoldParent = parent

        local childrenTbl = parent.jointChildren

        if not childrenTbl then
            childrenTbl = {}
            parent.jointChildren = childrenTbl
        end

        childrenTbl[ent] = true
    end

    if type( pos ) == "function" then
        local posFunc

        if parentIsJoint then
            posFunc = function( timeEx ) return convertTrueLocalToStandardLocal( parent, pos( timeEx, parent ) ) end
        else
            posFunc = function( timeEx ) return pos( timeEx, parent ) end
        end

        local result = posFunc( 0 )

        if result == nil then
            ent.jointHoldPosFunc = nil
            ent.jointHoldPosTimeex = nil
        else
            ent.jointHoldPosFunc = posFunc
            ent.jointHoldPosTimeex = 0

            if result then
                ent:setPos( result )
            end
        end
    else
        ent.jointHoldPosFunc = nil
        ent.jointHoldPosTimeex = nil

        if pos then
            if parentIsJoint then
                ent:setPos( convertTrueLocalToStandardLocal( parent, pos ) )
            else
                ent:setPos( pos )
            end
        end
    end

    if type( ang ) == "function" then
        local angFunc = function( timeEx ) return ang( timeEx, parent ) end

        ent.jointHoldAngFunc = angFunc
        ent.jointHoldAngTimeex = 0

        local result = angFunc( 0 )

        if result == nil then
            ent.jointHoldAngFunc = nil
            ent.jointHoldAngTimeex = nil
        elseif result then
            ent:setAngles( result )
        end
    else
        ent.jointHoldAngFunc = nil
        ent.jointHoldAngTimeex = nil

        if ang then
            ent:setAngles( ang )
        end
    end
end
addRemoteFunc( "SetHoldableParams", setHoldableParams )

--[[
    jointEntOrNameOrInd:
        - A joint entity, ID, or name.
    ang:
        - The target angle for this manipulation.
        - If instead set to the number -1, will immediately remove this manipulation and skip to other details. Requires manipSlot.
    smoothTime:
        - How many seconds it will take to reach the target angle. If == 0, will be instant.
        - If either smoothTime or duration are < 0, the manipulation will be played backwards. This is almost the same as swapping ang and startAng, but also accounts for the ending plataeu
    duration:
        - How long the manipulation will last for. If == 0, will last forever.
    isOverride:
        - Specifies that this manipulation should override other manips, instead of adding onto them. Will cause all other manips for the joint to be ignored while this is active.
    drawOrder: --------------------------------------------
        - ?????????????
    manipSlot: (optional, highly recommended)
        - The slot/ID for this manipulation, to allow for multiple to stack up. Defaults to "_GenericManip"
    startAng: (optional)
        - Starts the manipulation at a specific angle instead of ang0. Used by animations for switching between keyframes.
        - Note that you can get a joint's current total angle with joint.jointCurAng for seamless override manips.
--]]
--function manipulateJoint( jointEntOrNameOrInd, ang, smoothTime, duration, isOverride, drawOrder, manipSlot, startAng )
function manipulateJoint( jointEntOrNameOrInd, ang, smoothTime, duration, isOverride, manipSlot, startAng )
    local id, joint = jointIDAndEntFromAny( jointEntOrNameOrInd )

    if not joint then return end

    manipSlot = manipSlot or "_GenericManip"
    local timerName = "LKL_JointManager_JointManipulateFinish_" .. id .. "_" .. manipSlot

    if ang == -1 then
        local manips = jointManips[id] or {}

        timerRemoveExtra( timerName )
        manips[manipSlot] = nil

        return
    end

    ang = ang or Angle( 0, 0, 0 )
    duration = duration or 0
    smoothTime = smoothTime or 0
    --drawOrder = drawOrder or 0

    local manips = jointManips[id]
    local isInstant = smoothTime == 0
    local isPermanent = duration == 0
    local isReverse = smoothTime < 0 or duration < 0
    local curAng

    if isReverse then
        smoothTime = mAbs( smoothTime )
        duration = mAbs( duration )
    end

    if not isPermanent then
        smoothTime = mMin( smoothTime, duration )
    end

    if not manips then
        manips = {}
        jointManips[id] = manips
    end

    local TQ
    local rotAxis
    local rotDist
    local rotStep

    if not isInstant then
        curAng = startAng and startAng:clone() or Angle( 0, 0, 0 )
        TQ = ang:getQuaternion()

        local Q = TQ / curAng:getQuaternion()

        rotAxis = Q:getRotationVector():getNormalized()
        rotDist = Q:getRotationAngle()
        rotStep = rotDist / ( smoothTime / updateInterval )

        if rotDist <= 0 or rotDist <= rotStep then
            isInstant = true
        elseif isReverse then
            if duration == smoothTime or isPermanent then
                if not startAng then
                    local manip = manips[manipSlot] or {}

                    startAng = manip.CurAng or Angle( 0, 0, 0 )
                end

                manipulateJoint( jointEntOrNameOrInd, startAng, smoothTime, duration, isOverride, manipSlot, ang )
            else
                smoothTime = mMin( smoothTime, duration )
                local plateauDuration = duration - smoothTime

                manipulateJoint( jointEntOrNameOrInd, ang, 0, 0, isOverride, manipSlot, Angle( 0, 0, 0 ) )

                timerCreateExtra( "LKL_JointManager_ManipReverseFromPlateau_" .. id .. "_" .. manipSlot, plateauDuration, 1, function()
                    manipulateJoint( jointEntOrNameOrInd, Angle( 0, 0, 0 ), smoothTime, duration, isOverride, manipSlot, ang )
                end )
            end

            return
        end
    end

    manips[manipSlot] = {
        CurAng = isInstant and ang or curAng,
        CurRot = 0,
        TargetAng = ang,
        RotLength = rotDist,
        RotAxis = rotAxis,
        RotStep = rotStep,
        Moving = not isInstant,
        IsOverride = isOverride or false,
        --DrawOrder = drawOrder,
    }

    if isPermanent then
        timerRemoveExtra( timerName )
    else
        timerCreateExtra( timerName, duration, 1, function()
            manips[manipSlot] = nil
        end )
    end
end
addRemoteFunc( "ManipulateJoint", manipulateJoint )

-- Runs manipulateJoint() across multiple joints with args taken as tables, which must be numerically indexed.
-- timeMult is a single, optional number to multiply against all time values, including for reversing the manipulation.
-- flexScale and flexScaleStart multiply against the target and starting angles
-- All values other than 'ids' can be given as a single non-table value, which will apply to all of the provided joints
function manipulateJoints( ids, angs, smoothTimes, durations, isOverrides, manipSlots, startAngs, flexScale, flexScaleStart, timeMult )
    if type( ids ) ~= "table" then return end

    local singleAng = type( angs ) ~= "table"
    local singleSmoothTime = type( smoothTimes ) ~= "table"
    local singleDuration = type( durations ) ~= "table"
    local singleIsOverride = type( isOverrides ) ~= "table"
    local singleManipSlot = type( manipSlots ) ~= "table"
    local singleStartAng = type( startAngs ) ~= "table"

    angs = angs or {}
    smoothTimes = smoothTimes or {}
    durations = durations or {}
    manipSlots = manipSlots or {}
    timeMult = timeMult or 1
    flexScale = flexScale or 1
    flexScaleStart = flexScaleStart or 1

    if singleStartAng then
        startAngs = startAngs or Angle( 0, 0, 0 )
    else
        startAngs = startAngs or {}
    end

    if singleIsOverride then -- Boolean values mess with the ternary op. method
        for i = 1, #ids do
            manipulateJoint( ids[i],
                ( singleAng and angs or angs[i] or ang0 ) * flexScale,
                singleSmoothTime and smoothTimes or smoothTimes[i],
                ( singleDuration and durations or durations[i] ) * timeMult,
                isOverrides,
                singleManipSlot and manipSlots or manipSlots[i],
                ( singleStartAng and startAngs or startAngs[i] or ang0 ) * flexScaleStart
            )
        end
    else
        for i = 1, #ids do
            manipulateJoint( ids[i],
                ( singleAng and angs or angs[i] or ang0 ) * flexScale,
                singleSmoothTime and smoothTimes or smoothTimes[i],
                ( singleDuration and durations or durations[i] ) * timeMult,
                isOverrides[i],
                singleManipSlot and manipSlots or manipSlots[i],
                ( singleStartAng and startAngs or startAngs[i] or ang0 ) * flexScaleStart
            )
        end
    end
end
addRemoteFunc( "ManipulateJoints", manipulateJoints )

--[[
    Runs manipulateJoint() across multiple joints, taking one numerically indexed table of the following form:

    manipDatas = {
        {
            ID = INTEGER or STRING or ENTITY, -- The joint to manipulate for this entry, based on joint ID, name, or entity
            Ang = ANGLE,
            SmoothTime = NUMBER >= 0,
            Duration = NUMBER >= SmoothTime,
            IsOverride = BOOLEAN,
            ManipSlot = STRING,
            StartAng = ANGLE
        },
        ...
    }

    flexScale: (optional, default 1)
        - Multiplies against the target angles
    flexScaleStart: (optional, default 1)
        - Multiplies against the starting angles
    timeMult: (optional, default 1)
        - Multiplies against the various smoothTimes and durations. Equivalent to  timeDir / speedMult
--]]
function manipulateJointsGrouped( manipDatas, flexScale, flexScaleStart, timeMult )
    if type( manipDatas ) ~= "table" then return end

    for i = 1, #manipDatas do
        local data = manipDatas[i]

        manipulateJoint( data.ID, data.Ang, data.SmoothTime, data.Duration, data.IsOverride, data.ManipSlot, data.StartAng, flexScale, flexScaleStart, timeMult )
    end
end
addRemoteFunc( "ManipulateJointsGrouped", manipulateJointsGrouped )

function stopAllJointManips()
    for i = 1, jointCount do
        local manips = jointManips[i]

        if manips then
            for manipSlot, _ in pairs( manips ) do
                manipulateJoint( i, -1, nil, nil, nil, manipSlot )
            end
        end
    end
end
addRemoteFunc( "StopAllJointManips", stopAllJointManips )

--[[
    Applies a pre-defined pose from jointPoses, where only one instance of a specific pose can be active at the same time.
    If a pose is called while another instance of it is already active, the new parameters will be used and the old pose will be discarded.

    smoothTime:
        - If false or not provided, will forcefully stop this pose if it's already active
        - If negative, will play the pose in reverse.
        - Otherwise behaves as normal in manipulateJoint()
    duration:
        - If negative, will play the pose in reverse.
        - Otherwise behaves as normal in manipulateJoint()
    flexScale:
        - Multiplies against the angles of the pose to make it weaker or stronger. Default is 1.
    forceIsOverride:
        - If supplied as a non-nil value, will force the pose to use/not use IsOverride regardless of its normal config settings.
--]]
function jointApplyPose( poseName, smoothTime, duration, flexScale, forceIsOverride )
    if not poseName then return end

    local poseData = jointPoses[poseName]

    if not poseData then return end

    local poseAlreadyActive = jointActivePoses[poseName]
    local manipSlot = "_PoseManip_" .. poseName
    local poseForm = formatPose( poseName )

    if not smoothTime then
        if not poseAlreadyActive then return end

        manipulateJoints( poseForm.IDs, -1, 0, 0, false, manipSlot, ang0 )
        timerRemoveExtra( "LKL_JointManager_PoseFinished_" .. poseName )
        timerRemoveExtra( "LKL_JointManager_PoseReverseFromPlateau_" .. poseName )
        jointActivePoses[poseName] = nil

        return
    end

    duration = duration or 0
    flexScale = flexScale or 1

    local isOverride
    local jointIDs = poseForm.IDs
    local jointAngs = poseForm.Angs
    local startAngs = Angle( 0, 0, 0 )
    local count
    local isReverse = smoothTime < 0 or duration < 0

    if isReverse then
        smoothTime = mAbs( smoothTime )
        duration = mAbs( duration )
    end

    if forceIsOverride == nil then
        isOverride = poseData.IsOverride
    else
        isOverride = forceIsOverride
    end

    if flexScale ~= 1 then
        local jointAngsModified = {} -- Don't directly edit the memory of the original copy
        count = count or #jointIDs

        for i = 1, count do
            local ang = jointAngs[i] or ang0

            jointAngsModified[i] = ang * flexScale
        end

        jointAngs = jointAngsModified
    end

    if poseAlreadyActive then
        startAngs = {}
        count = count or #jointIDs

        for i = 1, count do
            local id = jointIDs[i]

            local manips = jointManips[id] or {}
            local manip = manips[manipSlot] or {}

            startAngs[i] = manip.CurAng or Angle( 0, 0, 0 )
        end
    end

    if isReverse and smoothTime ~= 0 then
        if duration == smoothTime or duration == 0 then
            manipulateJoints( jointIDs, Angle( 0, 0, 0 ), smoothTime, duration, isOverride, manipSlot, jointAngs )
        else
            smoothTime = mMin( smoothTime, duration )
            local plateauDuration = duration - smoothTime

            manipulateJoints( jointIDs, jointAngs, 0, 0, isOverride, manipSlot, startAngs )

            timerCreateExtra( "LKL_JointManager_PoseReverseFromPlateau_" .. poseName, plateauDuration, 1, function()
                manipulateJoints( jointIDs, Angle( 0, 0, 0 ), smoothTime, duration, isOverride, manipSlot, jointAngs )
            end )
        end
    else
        manipulateJoints( jointIDs, jointAngs, smoothTime, duration, isOverride, manipSlot, startAngs )
    end

    jointActivePoses[poseName] = true

    if duration > 0 then
        timerCreateExtra( "LKL_JointManager_PoseFinished_" .. poseName, duration, 1, function()
            jointActivePoses[poseName] = nil
        end )
    end
end
addRemoteFunc( "JointApplyPose", jointApplyPose )

--[[
    Applies a pre-made animation from jointAnims, consisting of mutliple keyframes, which each have multiple durations, poses, joint manipulations, holdable parameters, and custom functions.
    Only one instance of an animation can play at the same time, new calls will restart the anim and override it with the new values.

    animName:
        - The name of the animation to play.
    speedMult: (optional, default 1)
        - Larger numbers make the animation faster, smaller numbers make it slower.
        - A negative speedMult will make the animation play in reverse.
    flexScale: (optional, default 1)
        - Multiplies against the angles of all poses and manips to make them weaker or stronger.
    startFrameInd: (optional, default 1)
        - The keyframe index to start the animation at.
        - If playing in reverse:
            - 1 -> Will instead start at numKeyframes and count down.
            - x -> Starts from x and counts down.
    endFrameInd: (optional, default numKeyframes)
        - The keyframe index to end the animation at.
        - If playing in reverse:
            - numKeyframes -> Will instead end at 1.
            - x -> Ends at x.
    stopAnim: (optional)
        - Set to true to instead stop the animation.
    ignoreFuncs: (optional)
        - Prevents custom keyframe functions from running.
    ...: (optional)
        - Variable arguments, will be passed to keyframe funcs, which are of the form  function( animName, keyframeInd, kfDuration, timeMult, timeDir, ... ) end
--]]
function jointApplyAnim( animName, speedMult, flexScale, startFrameInd, endFrameInd, stopAnim, ignoreFuncs, ... )
    if not animName then return end

    local animData = jointAnims[animName]

    if not animData then return end

    local numKeyframes = animData.Count
    local timerBase = "LKL_JointManager_AnimKeyframe_" .. animName .. "_"
    local manipSlot = "_AnimManip_" .. animName
    local durationTotal = jointAnimDurationTotals[animName]

    if not numKeyframes then ----------------------------------------
        numKeyframes = #animData
        animData.Count = numKeyframes
    end

    if not durationTotal then
        durationTotal = 0

        for kfInd, kfData in pairs( animData ) do
            if type( kfData ) == "table" then
                kfData = getKeyframeOrCopy( animData, kfInd, kfData )

                durationTotal = durationTotal + ( kfData.Duration or 0 )
            end
        end

        jointAnimDurationTotals[animName] = durationTotal
    end

    local currentKeyframe = jointAnimCurrentKeyframes[animName] or numKeyframes

    if jointActiveAnims[animData] then -- Stop current anim
        for i = 1, numKeyframes do
            timerRemoveExtra( timerBase .. i )
        end

        for i = 1, currentKeyframe do
            local kfPoseForms, kfManipForms, kfHoldableForms = formatKeyframe( animName, i )

            for poseInd = 1, kfPoseForms.Count or 0 do
                jointApplyPose( kfPoseForms[poseInd].Name, false )
            end

            manipulateJoints( kfManipForms.IDs, kfManipForms.DisableVals )

            for holdInd = 1, kfHoldableForms.Count do
                setHoldableParams( kfHoldableForms[holdInd].HoldableInd, false )
            end
        end
    end

    if stopAnim then return end

    speedMult = speedMult or 1
    flexScale = flexScale or 1
    startFrameInd = mClamp( mFloor( startFrameInd or 1 ), 1, numKeyframes )
    endFrameInd = mClamp( mFloor( endFrameInd or numKeyframes ), 1, numKeyframes )

    if speedMult == 0 then return end

    local isReverse = speedMult < 0
    local timeDir = isReverse and -1 or 1
    local timeMult = 1 / mAbs( speedMult )
    local delay = 0

    if isReverse then
        if startFrameInd == 1 then
            startFrameInd = numKeyframes
        end

        if endFrameInd == numKeyframes then
            endFrameInd = 1
        end

        if endFrameInd > startFrameInd then return end
    else
        if endFrameInd < startFrameInd then return end
    end

    jointAnimCurrentKeyframes[animName] = startFrameInd

    --local indInit = isReverse and numKeyframes or 1
    --local indEnd = isReverse and 1 or numKeyframes

    local passedArgs = {}

    for i = 1, select( "#", ... ) do
        passedArgs[i] = select( i, ... )
    end

    for i = startFrameInd, endFrameInd, timeDir do
        local kfData = animData[i] or {}
        local kfDuration = mAbs( kfData.Duration or 0 )

        --if kfDuration == 0 then continue end

        local kfFuncs = kfData.Funcs or kfData.Functions or {}
        local timerName = timerBase .. i
        local kfDurationEff = kfDuration * timeMult

        timerCreateExtra( timerName, delay, 1, function()
            local kfPoseForms, kfManipForms, kfHoldableForms = formatKeyframe( animName, i )

            jointAnimCurrentKeyframes[animName] = i

            for poseInd = 1, kfPoseForms.Count or 0 do
                local poseArgs = kfPoseForms[poseInd]
                local poseSmoothTime = poseArgs.SmoothTime * timeMult * timeDir
                local poseDuration = poseArgs.Duration * timeMult * timeDir

                jointApplyPose( poseArgs.Name, poseSmoothTime, poseDuration, poseArgs.FlexScale * flexScale, poseArgs.ForceIsOverride )
            end

            manipulateJoints( kfManipForms.IDs, kfManipForms.Angs, kfManipForms.SmoothTimes, kfDuration, kfManipForms.IsOverrides, manipSlot, kfManipForms.PrevAngs, flexScale, timeMult * timeDir )

            for holdInd = 1, kfHoldableForms.Count do
                local holdArgs = kfHoldableForms[holdInd]

                setHoldableParams( holdArgs.HoldableInd, holdArgs.JointIdentifier, holdArgs.PosFuncGen( isReverse ), holdArgs.AngFuncGen( isReverse ) )
            end

            if ignoreFuncs then return end

            for _, func in pairs( kfFuncs ) do
                func( animName, i, kfDuration, timeMult, timeDir, unpack( passedArgs ) )
            end
        end )

        delay = delay + kfDurationEff
    end
end
addRemoteFunc( "JointApplyAnim", jointApplyAnim )


local function setJointAng( joint, ang )
    local info = joint.jointInfo
    --if not info then return end

    local curAng = joint.jointCurAng or ang0
    if not ang or ang == curAng then return end

    local parent = joint.jointParent
    local angMin = info.AngleMin
    local angMax = info.AngleMax
    local newP = mClamp( ang[1], angMin[1], angMax[1] )
    local newY = mClamp( ang[2], angMin[2], angMax[2] )
    local newR = mClamp( ang[3], angMin[3], angMax[3] )
    local newAng = Angle( newP, newY, newR )

    parent = isValid( parent ) and parent

    if not parent then return end

    local parentPos = parent:getPos()
    local hingePosWorld = parent:localToWorld( joint.jointHingePosFromParent )
    local hingeToModelOrigin = parent:localToWorld( joint.jointHingePosToModelOrigin ) - parentPos

    local initAngWorld = parent:localToWorldAngles( joint.jointInitAngStandard )
    local rotAxisWorldPitch = parent:localToWorld( joint.jointRotAxisPitch ) - parentPos
    local rotAxisWorldYaw = parent:localToWorld( joint.jointRotAxisYaw ) - parentPos
    local rotAxisWorldRoll = parent:localToWorld( joint.jointRotAxisRoll ) - parentPos

    local finalPos = hingeToModelOrigin
    local finalAng = initAngWorld

    -- Starfall always forcefully normalizes the incoming axis with a square root without bothering to check if it's a unit vector
    -- As such, compressing it down to just these 2 sqrt calls is better than the 3 we'd get from calling vec:rotateAroundAxis() 3 times
    -- Starfall doesn't normalize when called on angles, so this is 3->2 sqrt's instead of 6->3, but we still save on extra RAA calls
    local combinedAxis = rotAxisWorldPitch * newP + rotAxisWorldYaw * newY + rotAxisWorldRoll * newR
    local combinedRot = combinedAxis:getLength() -- Don't get length from raw angle values in case the axes aren't perp. and partially cancel each other

    if combinedRot == 0 then
        joint.jointCurAng = newAng
        joint:setPos( parent:worldToLocal( hingeToModelOrigin + hingePosWorld ) )
        joint:setAngles( initAngWorld )

        return
    end

    combinedAxis = combinedAxis / combinedRot

    finalPos = finalPos:rotateAroundAxis( combinedAxis, combinedRot )
    finalAng = finalAng:rotateAroundAxis( combinedAxis, combinedRot )

    finalPos = parent:worldToLocal( finalPos + hingePosWorld )

    joint.jointCurAng = newAng
    joint:setPos( finalPos )
    joint:setAngles( finalAng )
end

local function processManipsOnJoint( id, timeMult )
    local joint = jointEnts[id]
    if not joint or not joint:isValid() then return end

    if forceTPose then
        setJointAng( joint, ang0 )

        return
    end

    local jointAngNew = ang0
    local manips = jointManips[id]

    if not manips then
        setJointAng( joint, jointAngNew )

        return
    end

    for _, manipData in pairs( manips ) do
        local curAng = manipData.CurAng

        if manipData.Moving then
            local curRot = manipData.CurRot
            local rotLength = manipData.RotLength
            local rotStep = manipData.RotStep * timeMult
            local rotDist = rotLength - curRot
            if rotDist <= rotStep then
                curAng = manipData.TargetAng
                manipData.Moving = false
            else
                curAng = curAng:rotateAroundAxis( manipData.RotAxis, rotStep )
                manipData.CurRot = curRot + rotStep
            end

            manipData.CurAng = curAng
        end

        if manipData.IsOverride then
            jointAngNew = curAng

            break
        else
            jointAngNew = jointAngNew + curAng
        end
    end

    setJointAng( joint, jointAngNew )
end

local function revertInput( name, oldLinkEnt, oldLinkName )
    local rewired = false

    if isValid( oldLinkEnt ) then
        rewired = pcall( function()
            wire.create( chip(), oldLinkEnt, name, oldLinkName )
        end )
    end

    if not rewired then
        wire.delete( chip(), name )
    end
end

local function onLast()
    for i = 1, jointCount do
        local ent = jointEnts[i]

        if isValid( ent ) then
            ent:setParent( nil )
            jointUnparentChildren( ent )
        end
    end
end

local function getDirAdjustors( ent, entPos, entDir, entDirUp, newDirLocal )
    local trueDirPos = ent:localToWorld( newDirLocal )
    local trueDirWorld = trueDirPos - entPos

    local CQ = entDir:getQuaternion( entDirUp )
    local TQ = trueDirWorld:getAngle():getQuaternion()
    local Q = TQ / CQ

    return Q:getRotationAxis(), Q:getRotationAngle()
end

local function setupJoint( joint, id, base )
    if not initialized then
        timerSimpleExtra( 0.5, function()
            setupJoint( joint, id, base )
        end )

        return
    end

    if not isValid( joint ) then return end

    local info = jointInfos[id] or {}
    local jointPos = joint:getPos()
    local jointForward = joint:getForward()
    local jointRight = joint:getRight()
    local jointUp = joint:getUp()
    local parent = jointEnts[info.ParentID or false]

    base = base or jointBaseEnts[info.ParentBaseID or false]
    base = isValid( base ) and base
    parent = isValid( parent ) and parent

    local parentEff = parent or base

    if info.ForwardModified then
        local adjustAxis, adjustDeg = getDirAdjustors( joint, jointPos, jointForward, jointUp, info.TrueForward * vecRightNeg )

        info.ForwardAdjustAxis = adjustAxis
        info.ForwardAdjustDeg = adjustDeg
    end

    if info.RightModified then
        local adjustAxis, adjustDeg = getDirAdjustors( joint, jointPos, jointRight, jointUp, info.TrueRight * vecRightNeg )

        info.RightAdjustAxis = adjustAxis
        info.RightAdjustDeg = adjustDeg
    end

    if info.UpModified then
        local adjustAxis, adjustDeg = getDirAdjustors( joint, jointPos, jointUp, -jointForward, info.TrueUp * vecRightNeg )

        info.UpAdjustAxis = adjustAxis
        info.UpAdjustDeg = adjustDeg
    end

    local boxHalf = joint:obbSize() / 2
    local ikOriginStandard = convertTrueLocalToStandardLocal( joint, boxHalf * info.IKOrigin )
    local ikEndStandard = convertTrueLocalToStandardLocal( joint, boxHalf * info.IKEnd )
    local hingePos = boxHalf * info.HingePosScaled + info.HingePos
    local hingePosStandard = convertTrueLocalToStandardLocal( joint, hingePos )

    joint.jointInfo = info
    joint.jointParent = parentEff
    joint.jointCurAng = Angle( 0, 0, 0 )
    joint.jointAngleMin = info.AngleMin
    joint.jointAngleMax = info.AngleMax
    joint.jointHingePos = hingePos
    joint.jointHingePosStandard = hingePosStandard
    joint.jointIKOriginStandard = ikOriginStandard
    joint.jointIKEndStandard = ikEndStandard -- unneeded?
    joint.jointIKLength = ikOriginStandard:getDistance( ikEndStandard )

    local trueForwardWorld, trueRightWorld, trueUpWorld = jointGetTrueDirs( joint, info )

    if parentEff then
        local parentPos = parentEff:getPos()
        local ikOriginWorld = joint:localToWorld( ikOriginStandard )
        local ikEndWorld = joint:localToWorld( ikEndStandard )
        local hingePosWorld = joint:localToWorld( hingePosStandard )

        joint:setParent( nil )
        joint:setParent( parentEff )
        joint:setNocollideAll( false )

        joint.jointInitAngStandard = parentEff:worldToLocalAngles( joint:getAngles() )
        joint.jointRotAxisPitch = parentEff:worldToLocal( parentPos - trueRightWorld )
        joint.jointRotAxisYaw = parentEff:worldToLocal( parentPos + trueUpWorld )
        joint.jointRotAxisRoll = parentEff:worldToLocal( parentPos + trueForwardWorld )
        joint.jointIKOriginFromParent = parentEff:worldToLocal( ikOriginWorld )
        joint.jointIKEndFromParent = parentEff:worldToLocal( ikEndWorld )
        joint.jointHingePosFromParent = parentEff:worldToLocal( hingePosWorld )
        joint.jointHingePosToModelOrigin = parentEff:worldToLocal( parentPos + jointPos - hingePosWorld )
    else
        joint.jointInitAngStandard = nil
        joint.jointRotAxisPitch = nil
        joint.jointRotAxisYaw = nil
        joint.jointRotAxisRoll = nil
        joint.jointIKOriginFromParent = nil
        joint.jointIKEndFromParent = nil
        joint.jointHingePosFromParent = nil
        joint.jointHingePosToModelOrigin = nil
    end

    jointEnts[id] = joint
    jointLookup[joint] = id
end

local function setupBase( base, id )
    if not initialized then
        timerSimpleExtra( 0.5, function()
            setupBase( base, id )
        end )

        return
    end

    if not isValid( base ) then return end

    for i = 1, jointsWithBaseParentsCount do
        local ind = jointsWithBaseParents[i]
        local joint = jointEnts[ind]

        if isValid( joint ) then
            local jointPos = joint:getPos()
            local parentPos = base:getPos()
            local ikOriginWorld = joint:localToWorld( joint.jointIKOriginStandard )
            local ikEndWorld = joint:localToWorld( joint.jointIKEndStandard )
            local hingePosWorld = joint:localToWorld( joint.jointHingePosStandard )
            local trueForwardWorld, trueRightWorld, trueUpWorld = jointGetTrueDirs( joint )

            joint.jointParent = base
            joint:setParent( nil )
            joint:setParent( base )
            joint:setNocollideAll( false )

            joint.jointInitAngStandard = base:worldToLocalAngles( joint:getAngles() )
            joint.jointRotAxisPitch = base:worldToLocal( parentPos - trueRightWorld )
            joint.jointRotAxisYaw = base:worldToLocal( parentPos + trueUpWorld )
            joint.jointRotAxisRoll = base:worldToLocal( parentPos + trueForwardWorld )
            joint.jointIKOriginFromParent = base:worldToLocal( ikOriginWorld )
            joint.jointIKEndFromParent = base:worldToLocal( ikEndWorld )
            joint.jointHingePosFromParent = base:worldToLocal( hingePosWorld )
            joint.jointHingePosToModelOrigin = base:worldToLocal( parentPos + jointPos - hingePosWorld )
        end
    end

    jointBaseEnts[id] = base
end

local function wireInput( name, value )
    local inType, id, _ = getInputInfo( name )
    local oldLinkEnt = wireEnts[name]
    local oldLinkName = wireNames[name]

    wireEnts[name] = chipLink:isWired( name ) and chipLink:getWiredTo( name )
    wireNames[name] = chipLink:getWiredToName( name )

    if inType == "Holdables" then
        value = value or {}

        jointHoldables = table.cloneDeep( value )
        tableEmpty( jointHoldableLookup )

        jointHoldableCount = #jointHoldables

        for i = 1, jointHoldableCount do
            jointHoldableLookup[jointHoldables[i]] = i
        end
    elseif inType == "Base" then
        local base = isValid( value ) and value
        local oldBase = oldLinkEnt

        if oldBase == base then return end

        if isValid( oldBase ) then
            for i = 1, jointsWithBaseParentsCount do
                local ind = jointsWithBaseParents[i]
                local info = jointInfos[i] or {}
                local joint = jointEnts[ind]

                if info.ParentBaseID == id and isValid( joint ) then
                    joint:setParent( nil )
                    joint.jointParent = false
                    joint.jointInitAngStandard = nil
                    joint.jointRotAxisPitch = nil
                    joint.jointRotAxisYaw = nil
                    joint.jointRotAxisRoll = nil
                    joint.jointHingePosFromParent = nil
                    joint.jointHingePosToModelOrigin = nil
                end
            end
        end

        jointBaseEnts[id] = bil
        setupBase( base, id )
    elseif inType == "Joint" or inType == "Joints" then
        local remJoints = {}
        local newJoints = {}

        if separateInputs then
            local oldJoint = jointEnts[id]

            if isValid( oldJoint ) then
                remJoints[id] = oldJoint
            end

            if isValid( value ) then
                newJoints[id] = value
            end
        else
            value = value or {}

            for i, jointIn in ipairs( value ) do
                local oldJoint = jointEnts[i]

                if oldJoint ~= jointIn then
                    if isValid( oldJoint ) then
                        remJoints[i] = oldJoint
                    end

                    if isValid( jointIn ) then
                        newJoints[i] = jointIn
                    end
                end
            end
        end

        for _, joint in pairs( remJoints ) do
            if type( joint ) == "Entity" and isValid( joint ) and joint.jointInfo then
                local parent = joint.jointParent
                local jointInd = jointLookup[joint]

                if isValid( parent ) and joint:getParent() == parent then
                    joint:setParent( nil )
                end

                if jointInd then
                    jointLookup[joint] = nil
                    jointEnts[jointInd] = nil
                end

                jointUnparentChildren( joint )

                joint.jointInfo = nil
                joint.jointChildren = nil
                joint.jointReady = nil
            end
        end

        for i, joint in pairs( newJoints ) do
            local base = jointBaseEnts[( jointInfos[i] or {} ).ParentBaseID or false]

            if type( i ) ~= "number" or i < 1 or i > jointCount then
                print(
                    c_white, printName .. " ",
                    c_red, "Tried to add a joint entity ",
                    c_yellow, tostring( joint ) .. " ",
                    c_pale_yellow, "(" .. type( joint ) .. ") ",
                    c_red, "at an invalid joint ind ",
                    c_yellow, tostring( i )
                )
            elseif type( joint ) ~= "Entity" or not isValid( joint ) then
                print(
                    c_white, printName .. " ",
                    c_red, "Tried to add an invalid joint entity ",
                    c_yellow, tostring( joint ) .. " ",
                    c_pale_yellow, "(" .. type( joint ) .. ") ",
                    c_red, "at joint ind/name ",
                    c_yellow, tostring( i ),
                    c_red, "/",
                    c_yellow, tostring( ( jointInfos[i] or {} ).Name )
                )
            elseif jointLookup[joint] then
                if separateInputs then
                    revertInput( name, oldLinkEnt, oldLinkName )
                end

                print(
                    c_white, printName .. " ",
                    c_yellow, tostring( joint ),
                    c_red, " is already a joint, and cannot be used twice!"
                )
            elseif base == joint then
                if separateInputs then
                    revertInput( name, oldLinkEnt, oldLinkName )
                end

                print(
                    c_white, printName .. " ",
                    c_yellow, tostring( joint ),
                    c_red, " cannot be its own base!"
                )
            else
                setupJoint( joint, id, base )
            end
        end
    end
end

hook.add( "input", "LKL_" .. projectNameID .. "_WireInput", wireInput )

hook.add( "Removed", "LKL_" .. projectNameID .. "_UnparentEnts", onLast )

hook.add( "PlayerSay", "LKL_" .. projectNameID .. "_PlayerSay", function( ply, msg )
    if ply ~= owner() then return end

    local LS = string.explode( " ", msg )

    if LS[1] ~= "/jm" then return end

    local command = LS[2]

    if command == "tpose" then
        forceTPose = not forceTPose

        if forceTPose then
            print(
                c_white, printName .. " ",
                c_pale_green, "T-Pose mode has been enabled."
            )
        else
            print(
                c_white, printName .. " ",
                c_pale_red, "T-Pose mode has been disabled."
            )
        end
    end

    return ""
end )

hook.add( "remote", "LKL_" .. projectNameID .. "_Remote", function( _caller, _callerOwner, hookIn, ... )
    if calllerOwner ~= owner() then return end

    local func = jointRemoteFuncs[hookIn] or jointRemoteFuncs[jointRemotePrefix .. hookIn]

    if not func then return end
    if not initialized then return false, "uninitialized" end

    return func( ... )
end )

timerCreateExtra( "LKL_" .. projectNameID .. "_MoveJoints", updateInterval, 0, function()
    local quotaExceeded = false
    local curTime = realtime()
    local timeMult = ( curTime - prevManipProcessTime ) / updateInterval
    local usageLimit = getUsageLimit( 0.9 )

    for i = nextIndManip, jointCount do
        if not checkQuota( usageLimit, "TimerLoop__MoveJoints" ) then
            nextIndManip = i
            quotaExceeded = true

            break
        end

        processManipsOnJoint( i, timeMult )
    end

    if not quotaExceeded then
        nextIndManip = 1
        prevManipProcessTime = realtime()
    end
end )

timerCreateExtra( "LKL_" .. projectNameID .. "_MoveHoldables", updateIntervalHoldables, 0, function()
    local quotaExceeded = false
    local curTime = realtime()
    local timeGap = curTime - prevHodableProcessTime
    local usageLimit = getUsageLimit( 0.9 )

    for i = nextIndHoldable, jointHoldableCount do
        if not checkQuota( usageLimit, "TimerLoop__MoveHoldables" ) then
            nextIndHoldable = i
            quotaExceeded = true

            break
        end

        local ent = jointHoldables[i]

        if isValid( ent ) then
            local posFunc = ent.jointHoldPosFunc
            local angFunc = ent.jointHoldAngFunc

            if posFunc then
                --local timeEx = ( ent.jointHoldPosTimeex or 0 ) + updateIntervalHoldables
                local timeEx = ( ent.jointHoldPosTimeex or 0 ) + timeGap
                ent.jointHoldPosTimeex = timeEx

                local pos = posFunc( timeEx )

                if pos then
                    ent:setPos( pos )
                elseif pos == nil then
                    ent.jointHoldPosFunc = nil
                    ent.jointHoldPosTimeex = nil
                end
            end

            if angFunc then
                --local timeEx = ( ent.jointHoldAngTimeex or 0 ) + updateIntervalHoldables * timeMult
                local timeEx = ( ent.jointHoldAngTimeex or 0 ) + timeGap
                ent.jointHoldAngTimeex = timeEx

                local ang = angFunc( timeEx )

                if ang then
                    ent:setAngles( ang )
                elseif ang == nil then
                    ent.jointHoldAngFunc = nil
                    ent.jointHoldAngTimeex = nil
                end
            end
        end
    end

    if not quotaExceeded then
        nextIndHoldable = 1
        prevHodableProcessTime = realtime()
    end
end )

timerSimpleExtra( 3, function()
    for i = 1, #inputNames do
        local name = inputNames[i]

        wireInput( inputNames[i], wire.ports[name] )
    end

    initialized = true

    local ownerChips = find.byClass( "starfall_processor", function( ent )
        if ent:getOwner() ~= owner() then return false end

        return true
    end )

    -- Recalculate duration total for just in case it has changed or been newly added since chip startup (which is bad practice on the user's part, but oh well)
    for animName, animData in pairs( jointAnims ) do
        local durationTotal = 0

        for kfInd, kfData in pairs( animData ) do
            if type( kfInd ) == "number" and type( kfData ) == "table" then
                kfData = getKeyframeOrCopy( animData, kfInd, kfData )

                durationTotal = durationTotal + ( kfData.Duration or 0 )
            end
        end

        jointAnimDurationTotals[animName] = durationTotal
    end

    for _, ent in pairs( ownerChips ) do
        pcall( function() hook.runRemote( ent, "LKL_JointManager_Initialized", jointConfig, jointInfos, jointPoses, jointAnims, jointRemoteFuncs ) end )
    end
end )