public void Update() {
if (OnPreUpdate != null) OnPreUpdate();
if (firstInitiation) LogWarning("Trying to update IK solver before initiating it. If you intended to disable the IK component to manage it's updating, use ik.Disable() instead of ik.enabled = false, the latter does not guarantee solver initiation.");
if (!initiated) return;
OnUpdate();
if (OnPostUpdate != null) OnPostUpdate();
}