@quenty/ik 6.2.1-canary.256.edbbcfc.0 → 7.0.0

package/CHANGELOG.md

@@ -3,7 +3,18 @@
 All notable changes to this project will be documented in this file.
 See [Conventional Commits](https://conventionalcommits.org) for commit guidelines.
 
-## [6.2.1-canary.256.edbbcfc.0](https://github.com/Quenty/NevermoreEngine/compare/@quenty/ik@6.2.0...@quenty/ik@6.2.1-canary.256.edbbcfc.0) (2022-03-27)
+# [7.0.0](https://github.com/Quenty/NevermoreEngine/compare/@quenty/ik@6.3.0...@quenty/ik@7.0.0) (2022-05-21)
+
+
+### Features
+
+* Add new IK (without actual math for now), and improve replication rates among other things ([766f358](https://github.com/Quenty/NevermoreEngine/commit/766f35801576f56cc3b1372ee88e8bb9525058ff))
+
+
+
+
+
+# [6.3.0](https://github.com/Quenty/NevermoreEngine/compare/@quenty/ik@6.2.0...@quenty/ik@6.3.0) (2022-03-27)
 
 **Note:** Version bump only for package @quenty/ik
 

package/LICENSE.md

@@ -1,6 +1,6 @@
 MIT License
 
-Copyright (c) 2014-2021 Quenty
+Copyright (c) 2014-2022 Quenty
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@quenty/ik",
-  "version": "6.2.1-canary.256.edbbcfc.0",
+  "version": "7.0.0",
   "description": "Inverse Kinematics for characters on Roblox",
   "keywords": [
     "Roblox",
@@ -26,27 +26,28 @@
     "Quenty"
   ],
   "dependencies": {
-    "@quenty/acceltween": "2.1.1-canary.256.edbbcfc.0",
-    "@quenty/baseobject": "4.1.1-canary.256.edbbcfc.0",
-    "@quenty/binder": "5.1.1-canary.256.edbbcfc.0",
-    "@quenty/camera": "6.2.1-canary.256.edbbcfc.0",
-    "@quenty/characterutils": "4.1.1-canary.256.edbbcfc.0",
-    "@quenty/humanoidtracker": "4.1.1-canary.256.edbbcfc.0",
-    "@quenty/loader": "4.0.1-canary.256.edbbcfc.0",
-    "@quenty/maid": "2.2.1-canary.256.edbbcfc.0",
-    "@quenty/math": "2.1.1-canary.256.edbbcfc.0",
-    "@quenty/promise": "4.1.1-canary.256.edbbcfc.0",
-    "@quenty/ragdoll": "6.2.1-canary.256.edbbcfc.0",
-    "@quenty/remoting": "4.1.1-canary.256.edbbcfc.0",
-    "@quenty/servicebag": "4.1.1-canary.256.edbbcfc.0",
-    "@quenty/signal": "2.1.1-canary.256.edbbcfc.0",
-    "@quenty/table": "2.1.2-canary.256.edbbcfc.0"
+    "@quenty/acceltween": "^2.2.0",
+    "@quenty/baseobject": "^5.0.0",
+    "@quenty/binder": "^6.0.0",
+    "@quenty/camera": "^7.0.0",
+    "@quenty/characterutils": "^5.0.0",
+    "@quenty/humanoidtracker": "^5.0.0",
+    "@quenty/loader": "^5.0.0",
+    "@quenty/maid": "^2.3.0",
+    "@quenty/math": "^2.2.0",
+    "@quenty/promise": "^5.0.0",
+    "@quenty/qframe": "^5.0.0",
+    "@quenty/ragdoll": "^7.0.0",
+    "@quenty/remoting": "^5.0.0",
+    "@quenty/servicebag": "^5.0.0",
+    "@quenty/signal": "^2.2.0",
+    "@quenty/table": "^3.0.0"
   },
   "devDependencies": {
-    "@quenty/rigbuilderutils": "4.2.1-canary.256.edbbcfc.0"
+    "@quenty/rigbuilderutils": "^5.0.0"
   },
   "publishConfig": {
     "access": "public"
   },
-  "gitHead": "edbbcfc38516772a791d50dc43cd6b304ffc4aff"
+  "gitHead": "9f7eaea7543c33c89d2e32c38491b13f9271f4f7"
 }

package/src/Client/Rig/IKRigAimerLocalPlayer.lua

@@ -13,7 +13,7 @@ local CameraStackService = require("CameraStackService")
 local IKAimPositionPriorites = require("IKAimPositionPriorites")
 
 local MAX_AGE_FOR_AIM_DATA = 0.2
-local REPLICATION_RATE = 1.3
+local DEFAULT_REPLICATION_RATE = 1.3
 
 local IKRigAimerLocalPlayer = setmetatable({}, BaseObject)
 IKRigAimerLocalPlayer.ClassName = "IKRigAimerLocalPlayer"
@@ -25,24 +25,37 @@ IKRigAimerLocalPlayer.__index = IKRigAimerLocalPlayer
 
 	@param serviceBag ServiceBag
 	@param ikRig IKRigClient
-	@param remoteEvent RemoteEvent
 	@return IKRigAimerLocalPlayer
 ]=]
-function IKRigAimerLocalPlayer.new(serviceBag, ikRig, remoteEvent)
+function IKRigAimerLocalPlayer.new(serviceBag, ikRig)
 	local self = setmetatable(BaseObject.new(), IKRigAimerLocalPlayer)
 
 	self._cameraStackService = serviceBag:GetService(CameraStackService)
-	self._remoteEvent = remoteEvent or error("No remoteEvent")
 	self._ikRig = ikRig or error("No ikRig")
 
 	self._lastUpdate = 0
 	self._lastReplication = 0
-	self._aimData = nil
 	self._lookAround = true
 
+	self._aimData = nil
+
+	self._replicationRate = DEFAULT_REPLICATION_RATE
+	self._replicationRates = {}
+
 	return self
 end
 
+--[=[
+	Sets the remote event for replication
+
+	@param remoteEvent RemoteEvent
+]=]
+function IKRigAimerLocalPlayer:SetRemoteEvent(remoteEvent)
+	assert(not self._remoteEvent, "Already have remoteEvent")
+
+	self._remoteEvent = assert(remoteEvent, "No remoteEvent")
+end
+
 --[=[
 	Sets whether the local player should look around automatically.
 	@param lookAround boolean
@@ -75,11 +88,46 @@ function IKRigAimerLocalPlayer:SetAimPosition(position, optionalPriority)
 	}
 end
 
+function IKRigAimerLocalPlayer:PushReplicationRate(replicateRate)
+	assert(type(replicateRate) == "number", "Bad replicateRate")
+
+	local data = {
+		replicateRate = replicateRate;
+	}
+
+	table.insert(self._replicationRates, data)
+	self:_updateReplicationRate()
+
+	if #self._replicationRates >= 10 then
+		warn("[IKRigAimerLocalPlayer] - More than 10 replication rates stored, memory leak possible")
+	end
+
+	return function()
+		local index = table.find(self._replicationRates, data)
+		if index then
+			table.remove(self._replicationRates, index)
+			self:_updateReplicationRate()
+		end
+	end
+end
+
+function IKRigAimerLocalPlayer:_updateReplicationRate()
+	local best = nil
+	for _, rateData in pairs(self._replicationRates) do
+		local rate = rateData.replicateRate
+		if not best or rate < best then
+			best = rate
+		end
+	end
+
+	self._replicationRate = best or DEFAULT_REPLICATION_RATE
+end
+
 --[=[
-	Gets the current aim direction.
+	Gets the current aim position.
 	@return Vector3?
 ]=]
-function IKRigAimerLocalPlayer:GetAimDirection()
+function IKRigAimerLocalPlayer:GetAimPosition()
 	if self._aimData and (os.clock() - self._aimData.timeStamp) < MAX_AGE_FOR_AIM_DATA then
 			-- If we have aim data within the last 0.2 seconds start pointing at that
 		return self._aimData.position -- May be nil
@@ -121,18 +169,18 @@ function IKRigAimerLocalPlayer:UpdateStepped()
 		return
 	end
 
-	local aimDirection = self:GetAimDirection()
+	local aimPosition = self:GetAimPosition()
 
 	self._lastUpdate = os.clock()
 	local torso = self._ikRig:GetTorso()
 	if torso then
-		torso:Point(aimDirection)
+		torso:Point(aimPosition)
 	end
 
 	-- Filter replicate
-	if (os.clock() - self._lastReplication) > REPLICATION_RATE then
+	if self._remoteEvent and (os.clock() - self._lastReplication) > self._replicationRate then
 		self._lastReplication = os.clock()
-		self._remoteEvent:FireServer(aimDirection)
+		self._remoteEvent:FireServer(aimPosition)
 	end
 end
 

package/src/Client/Rig/IKRigClient.lua

@@ -22,14 +22,19 @@ function IKRigClient.new(humanoid, serviceBag)
 
 	self._serviceBag = assert(serviceBag, "No serviceBag")
 
+	if self:GetPlayer() == Players.LocalPlayer then
+		self:_setupLocalPlayer(self._remoteEvent)
+	end
+
 	self:PromiseRemoteEvent():Then(function(remoteEvent)
-		self._remoteEvent = remoteEvent or error("No remoteEvent")
+		self._remoteEvent = assert(remoteEvent, "No remoteEvent")
+
 		self._maid:GiveTask(self._remoteEvent.OnClientEvent:Connect(function(...)
 			self:_handleRemoteEventClient(...)
 		end))
 
-		if self:GetPlayer() == Players.LocalPlayer then
-			self:_setupLocalPlayer(self._remoteEvent)
+		if self._localPlayerAimer then
+			self._localPlayerAimer:SetRemoteEvent(self._remoteEvent)
 		end
 	end)
 
@@ -56,9 +61,23 @@ end
 	@return IKRigAimerLocalPlayer?
 ]=]
 function IKRigClient:GetLocalPlayerAimer()
-	return self._aimer
+	return self._localPlayerAimer
 end
 
+--[=[
+	Returns where the rig is looking at
+
+	@return Vector3?
+]=]
+function IKRigClient:GetTarget()
+	if self._localPlayerAimer then
+		return self._localPlayerAimer:GetAimPosition()
+	end
+
+	return self._target
+end
+
+
 function IKRigClient:_handleRemoteEventClient(newTarget)
 	assert(typeof(newTarget) == "Vector3" or newTarget == nil, "Bad newTarget")
 
@@ -67,11 +86,13 @@ function IKRigClient:_handleRemoteEventClient(newTarget)
 	if torso then
 		torso:Point(newTarget)
 	end
+
+	self._target = newTarget
 end
 
 function IKRigClient:_setupLocalPlayer(remoteEvent)
-	self._aimer = IKRigAimerLocalPlayer.new(self._serviceBag, self, remoteEvent)
-	self._maid:GiveTask(self._aimer)
+	self._localPlayerAimer = IKRigAimerLocalPlayer.new(self._serviceBag, self, remoteEvent)
+	self._maid:GiveTask(self._localPlayerAimer)
 end
 
 return IKRigClient

package/src/Server/Rig/IKRig.lua

@@ -21,6 +21,7 @@ function IKRig.new(humanoid)
 
 	self._remoteEvent = Instance.new("RemoteEvent")
 	self._remoteEvent.Name = IKConstants.REMOTE_EVENT_NAME
+	self._remoteEvent.Archivable = false
 	self._remoteEvent.Parent = self._obj
 	self._maid:GiveTask(self._remoteEvent)
 

package/src/Shared/Arm/ArmIKBase.lua

@@ -5,6 +5,8 @@
 
 local require = require(script.Parent.loader).load(script)
 
+local RunService = game:GetService("RunService")
+
 local BaseObject = require("BaseObject")
 local IKAimPositionPriorites = require("IKAimPositionPriorites")
 local IKResource = require("IKResource")
@@ -12,8 +14,11 @@ local IKResourceUtils = require("IKResourceUtils")
 local Maid = require("Maid")
 local Math = require("Math")
 local RagdollConstants = require("RagdollConstants")
+local LimbIKUtils = require("LimbIKUtils")
+local QFrame = require("QFrame")
 
 local CFA_90X = CFrame.Angles(math.pi/2, 0, 0)
+local USE_OLD_IK_SYSTEM = false
 
 local ArmIKBase = setmetatable({}, BaseObject)
 ArmIKBase.ClassName = "ArmIKBase"
@@ -26,10 +31,28 @@ function ArmIKBase.new(humanoid, armName)
 
 	self._grips = {}
 
+	if armName == "Left" then
+		self._direction = 1
+	elseif armName == "Right" then
+		self._direction = -1
+	else
+		error("Bad arm")
+	end
+
 	self._resources = IKResource.new(IKResourceUtils.createResource({
 		name = "Character";
 		robloxName = self._humanoid.Parent.Name;
 		children = {
+			IKResourceUtils.createResource({
+				name = "UpperTorso";
+				robloxName = "UpperTorso";
+				children = {
+					IKResourceUtils.createResource({
+						name = "UpperTorsoShoulderRigAttachment";
+						robloxName = armName .. "ShoulderRigAttachment";
+					});
+				};
+			});
 			IKResourceUtils.createResource({
 				name = "UpperArm";
 				robloxName = armName .. "UpperArm";
@@ -38,6 +61,14 @@ function ArmIKBase.new(humanoid, armName)
 						name = "Shoulder";
 						robloxName = armName .. "Shoulder";
 					});
+					IKResourceUtils.createResource({
+						name = "UpperArmShoulderRigAttachment";
+						robloxName = armName .. "ShoulderRigAttachment";
+					});
+					IKResourceUtils.createResource({
+						name = "UpperArmElbowRigAttachment";
+						robloxName = armName .. "ElbowRigAttachment";
+					});
 				};
 			});
 			IKResourceUtils.createResource({
@@ -48,6 +79,14 @@ function ArmIKBase.new(humanoid, armName)
 						name = "Elbow";
 						robloxName = armName .. "Elbow";
 					});
+					IKResourceUtils.createResource({
+						name = "LowerArmElbowRigAttachment";
+						robloxName = armName .. "ElbowRigAttachment";
+					});
+					IKResourceUtils.createResource({
+						name = "LowerArmWristRigAttachment";
+						robloxName = armName .. "WristRigAttachment";
+					});
 				};
 			});
 			IKResourceUtils.createResource({
@@ -58,6 +97,10 @@ function ArmIKBase.new(humanoid, armName)
 						name = "Wrist";
 						robloxName = armName .. "Wrist";
 					});
+					IKResourceUtils.createResource({
+						name = "HandWristRigAttachment";
+						robloxName = armName .. "WristRigAttachment";
+					});
 					IKResourceUtils.createResource({
 						name = "HandGripAttachment";
 						robloxName = armName .. "GripAttachment";
@@ -66,6 +109,7 @@ function ArmIKBase.new(humanoid, armName)
 			});
 		}
 	}))
+
 	self._maid:GiveTask(self._resources)
 	self._resources:SetInstance(self._humanoid.Parent or error("No humanoid.Parent"))
 
@@ -120,7 +164,7 @@ function ArmIKBase:UpdateTransformOnly()
 	if not self._grips[1] then
 		return
 	end
-	if not self._shoulderTransform or not self._elbowTransform then
+	if not (self._shoulderTransform and self._elbowTransform and self._wristTransform) then
 		return
 	end
 	if not self._resources:IsReady() then
@@ -129,33 +173,56 @@ function ArmIKBase:UpdateTransformOnly()
 
 	local shoulder = self._resources:Get("Shoulder")
 	local elbow = self._resources:Get("Elbow")
+	local wrist = self._resources:Get("Wrist")
 
-	shoulder.Transform = self._shoulderTransform
-	elbow.Transform = self._elbowTransform
+	if RunService:IsRunning() then
+		shoulder.Transform = self._shoulderTransform
+		elbow.Transform = self._elbowTransform
+		wrist.Transform = self._wristTransform
+	else
+		-- Test mode/story mode
+		if not self._initTest then
+			self._initTest = true
+			self._testDefaultShoulderC0 = shoulder.C0
+			self._testDefaultElbowC0 = elbow.C0
+			self._testDefaultWristC0 = wrist.C0
+		end
+
+		shoulder.C0 = self._testDefaultShoulderC0 * self._shoulderTransform
+		elbow.C0 = self._testDefaultElbowC0 * self._elbowTransform
+		wrist.C0 = self._testDefaultWristC0 * self._wristTransform
+	end
 end
 
 function ArmIKBase:Update()
-	if self:_updatePoint() then
-		local shoulderXAngle = self._shoulderXAngle
-		local elbowXAngle = self._elbowXAngle
+	if USE_OLD_IK_SYSTEM then
+		if self:_oldUpdatePoint() then
+			local shoulderXAngle = self._shoulderXAngle
+			local elbowXAngle = self._elbowXAngle
 
-		local yrot = CFrame.new(Vector3.new(), self._offset)
+			local yrot = CFrame.new(Vector3.new(), self._offset)
 
-		self._shoulderTransform = (yrot * CFA_90X * CFrame.Angles(shoulderXAngle, 0, 0)) --:inverse()
-		self._elbowTransform = CFrame.Angles(elbowXAngle, 0, 0)
+			self._shoulderTransform = (yrot * CFA_90X * CFrame.Angles(shoulderXAngle, 0, 0)) --:inverse()
+			self._elbowTransform = CFrame.Angles(elbowXAngle, 0, 0)
+			self._wristTransform = CFrame.new()
 
-		self:UpdateTransformOnly()
+			self:UpdateTransformOnly()
+		end
+	else
+		if self:_newUpdate() then
+			self:UpdateTransformOnly()
+		end
 	end
 end
 
-function ArmIKBase:_updatePoint()
+function ArmIKBase:_oldUpdatePoint()
 	local grip = self._grips[1]
 	if not grip then
 		self:_clear()
 		return false
 	end
 
-	if not self:_calculatePoint(grip.attachment.WorldPosition) then
+	if not self:_oldCalculatePoint(grip.attachment.WorldPosition) then
 		self:_clear()
 		return false
 	end
@@ -167,9 +234,50 @@ function ArmIKBase:_clear()
 	self._offset = nil
 	self._elbowTransform = nil
 	self._shoulderTransform = nil
+	self._wristTransform = nil
 end
 
-function ArmIKBase:_calculatePoint(targetPositionWorld)
+function ArmIKBase:_newUpdate()
+	local grip = self._grips[1]
+	if not (grip and self._resources:IsReady()) then
+		self._elbowTransform = nil
+		self._shoulderTransform = nil
+		self._wristTransform = nil
+		return false
+	end
+
+	local targetCFrame = grip.attachment.WorldCFrame
+
+	local upperTorsoShoulderRigAttachment = self._resources:Get("UpperTorsoShoulderRigAttachment")
+
+	local upperArmShoulderRigAttachment = self._resources:Get("UpperArmShoulderRigAttachment")
+	local upperArmElbowRigAttachment = self._resources:Get("UpperArmElbowRigAttachment")
+	local elbowOffset = upperArmElbowRigAttachment.Position - upperArmShoulderRigAttachment.Position
+
+	local lowerArmElbowRigAttachment = self._resources:Get("LowerArmElbowRigAttachment")
+	local lowerArmWristRigAttachment = self._resources:Get("LowerArmWristRigAttachment")
+	local wristOffset = lowerArmWristRigAttachment.Position - lowerArmElbowRigAttachment.Position
+
+	local handWristRigAttachment = self._resources:Get("HandWristRigAttachment")
+	local handGripAttachment = self._resources:Get("HandGripAttachment")
+	local handOffset = handGripAttachment.Position - handWristRigAttachment.Position
+
+	-- TODO: Cache config
+	local config = LimbIKUtils.createConfig(elbowOffset, wristOffset + handOffset, 1)
+	local relTargetCFrame = upperTorsoShoulderRigAttachment.WorldCFrame:toObjectSpace(targetCFrame)
+
+	-- TODO: Allow configuration
+	local ELBOW_ANGLE = math.rad(20)
+	local shoulderQFrame, elbowQFrame, wristQFrame = LimbIKUtils.solveLimb(config, QFrame.fromCFrameClosestTo(relTargetCFrame, QFrame.new()), self._direction*ELBOW_ANGLE)
+
+	self._shoulderTransform = QFrame.toCFrame(shoulderQFrame)
+	self._elbowTransform = QFrame.toCFrame(elbowQFrame)
+	self._wristTransform = QFrame.toCFrame(wristQFrame)
+
+	return true
+end
+
+function ArmIKBase:_oldCalculatePoint(targetPositionWorld)
 	if not self._resources:IsReady() then
 		return false
 	end
@@ -182,9 +290,9 @@ function ArmIKBase:_calculatePoint(targetPositionWorld)
 		return false
 	end
 
-	local base = shoulder.Part0.CFrame * shoulder.C0
-	local elbowCFrame = elbow.Part0.CFrame * elbow.C0
-	local wristCFrame = elbow.Part1.CFrame * wrist.C0
+	local base = shoulder.Part0.CFrame * (self._testDefaultShoulderC0 or shoulder.C0)
+	local elbowCFrame = elbow.Part0.CFrame * (self._testDefaultElbowC0 or elbow.C0)
+	local wristCFrame = elbow.Part1.CFrame * (self._testDefaultWristC0 or wrist.C0)
 
 	local r0 = (base.Position - elbowCFrame.Position).Magnitude
 	local r1 = (elbowCFrame.Position - wristCFrame.Position).Magnitude
@@ -216,7 +324,6 @@ function ArmIKBase:_calculatePoint(targetPositionWorld)
 
 	self._shoulderXAngle = -baseAngle
 	self._elbowXAngle = -elbowAngle
-
 	self._offset = offset.unit * d
 
 	return true

package/src/Shared/Arm/ArmIKBase.story.lua

@@ -0,0 +1,47 @@
+--[[
+	@class ArmIKBase.story
+]]
+
+local require = require(game:GetService("ServerScriptService"):FindFirstChild("LoaderUtils", true).Parent).load(script)
+
+local Workspace = game:GetService("Workspace")
+local RunService = game:GetService("RunService")
+
+local Maid = require("Maid")
+local RigBuilderUtils = require("RigBuilderUtils")
+local ArmIKBase = require("ArmIKBase")
+
+return function(_target)
+	local maid = Maid.new()
+
+	maid:GivePromise(RigBuilderUtils.promisePlayerRig(4397833)):Then(function(character)
+		maid:GiveTask(character)
+
+		local humanoid = character.Humanoid
+		local position = Workspace.CurrentCamera.CFrame:pointToWorldSpace(Vector3.new(0, 0, -10))
+
+		local armIKBase = ArmIKBase.new(humanoid, "Right")
+		maid:GiveTask(armIKBase)
+
+		local attachment = Instance.new("Attachment")
+		attachment.Name = "IKRigStoryTarget"
+		attachment.Parent = workspace.Terrain
+		attachment.WorldPosition = position + Workspace.CurrentCamera.CFrame:vectorToWorldSpace(Vector3.new(2, 0, 1))
+		maid:GiveTask(attachment)
+
+		armIKBase:Grip(attachment)
+
+		humanoid.RootPart.CFrame = CFrame.new(position)
+		character.Parent = workspace
+		humanoid.RootPart.CFrame = CFrame.new(position)
+
+		maid:GiveTask(RunService.RenderStepped:Connect(function()
+			armIKBase:Update()
+		end))
+	end)
+
+
+	return function()
+		maid:DoCleaning()
+	end
+end

package/src/Shared/Rig/IKRigBase.lua

@@ -69,6 +69,10 @@ function IKRigBase:GetTorso()
 end
 
 function IKRigBase:PromiseLeftArm()
+	if self._obj.RigType ~= Enum.HumanoidRigType.R15 then
+		return Promise.rejected("Rig is not HumanoidRigType.R15")
+	end
+
 	return Promise.resolved(self:GetLeftArm())
 end
 
@@ -81,6 +85,10 @@ function IKRigBase:GetLeftArm()
 end
 
 function IKRigBase:PromiseRightArm()
+	if self._obj.RigType ~= Enum.HumanoidRigType.R15 then
+		return Promise.rejected("Rig is not HumanoidRigType.R15")
+	end
+
 	return Promise.resolved(self:GetRightArm())
 end
 
@@ -96,7 +104,7 @@ function IKRigBase:_getNewArm(armName)
 	assert(armName == "Left" or armName == "Right", "Bad armName")
 
 	if self._obj.RigType ~= Enum.HumanoidRigType.R15 then
-		return Promise.rejected("Rig is not HumanoidRigType.R15")
+		return nil
 	end
 
 	local newIk = ArmIKBase.new(self._obj, armName)

package/test/default.project.json

@@ -1,18 +1,10 @@
 {
-  "name": "iktest",
+  "name": "IKTest",
   "tree": {
     "$className": "DataModel",
-    "ReplicatedStorage": {
-      "Nevermore": {
-        "$path": "../node_modules/@quenty/loader"
-      }
-    },
     "ServerScriptService": {
-      "Nevermore": {
-        "$className": "folder",
-        "IK": {
-          "$path": ".."
-        }
+      "ik": {
+        "$path": ".."
       },
       "Script": {
         "$path": "scripts/Server"

package/test/scripts/Client/ClientMain.client.lua

@@ -2,13 +2,13 @@
 	@class ClientMain
 ]]
 
-local require = require(script.Parent.loader).load(script)
+local packages = game:GetService("ReplicatedStorage"):WaitForChild("Packages")
 
-local serviceBag = require("ServiceBag").new()
-serviceBag:GetService(require("IKServiceClient"))
+local serviceBag = require(packages.ServiceBag).new()
+local ikServiceClient = serviceBag:GetService(packages.IKServiceClient)
 
 serviceBag:Init()
 serviceBag:Start()
 
 -- Configure
-serviceBag:GetService(require("IKServiceClient")):SetLookAround(true)
+ikServiceClient:SetLookAround(true)

package/test/scripts/Server/ServerMain.server.lua

@@ -2,16 +2,22 @@
 	@class ServerMain
 ]]
 
-local require = require(script.Parent.loader).load(script)
+local ServerScriptService = game:GetService("ServerScriptService")
+local RunService = game:GetService("RunService")
 
-local serviceBag = require("ServiceBag").new()
-serviceBag:GetService(require("IKService"))
+local loader = ServerScriptService:FindFirstChild("LoaderUtils", true).Parent
+local packages = require(loader).bootstrapGame(ServerScriptService.ik)
 
+local serviceBag = require(packages.ServiceBag).new()
+local ikService = serviceBag:GetService(packages.IKService)
+
+-- Start game
 serviceBag:Init()
 serviceBag:Start()
 
+
 -- Build test NPC rigs
-local RigBuilderUtils = require("RigBuilderUtils")
+local RigBuilderUtils = require(packages.RigBuilderUtils)
 RigBuilderUtils.promiseR15MeshRig()
 	:Then(function(character)
 		local humanoid = character.Humanoid
@@ -21,6 +27,8 @@ RigBuilderUtils.promiseR15MeshRig()
 		character.Parent = workspace
 		humanoid.RootPart.CFrame = CFrame.new(0, 25, 0)
 
-		-- look down
-		serviceBag:GetService(require("IKService")):UpdateServerRigTarget(humanoid, Vector3.new(0, 0, 0))
+		-- look at origin
+		RunService.Stepped:Connect(function()
+			ikService:UpdateServerRigTarget(humanoid, Vector3.new(0, 0, 0))
+		end)
 	end)