diff --git a/bone.cpp b/bone.cpp
index d47e39a..1434731 100644
--- a/bone.cpp
+++ b/bone.cpp
@@ -17,11 +17,17 @@ namespace vb01{
 	void Bone::updateBoneInfo(){
 		for(int i = 0; i < 3; i++)
 			this->initAxis[i] = globalAxis[i];
+
 		restPos = pos;
 		restRot = orientation;
 		restScale = scale;
 	}
 
+	void Bone::onAttached(){
+			Node::onAttached();
+			updateBoneInfo();
+	}
+
 	Vector3 Bone::getBoneSpaceRestPos(Bone *bone){
 		Bone *rootBone = skeleton->getRootBone();
 		Vector3 modelSpacePos = Vector3::VEC_ZERO;
diff --git a/bone.h b/bone.h
index 92b65fa..815422d 100644
--- a/bone.h
+++ b/bone.h
@@ -36,6 +36,7 @@ namespace vb01{
 		private:
 			void updateBoneInfo();
 			void animate(float, KeyframeChannel);
+			void onAttached();
 			virtual float getDriverValue(Driver::VariableType);
 
 			float length;
diff --git a/ikSolver.cpp b/ikSolver.cpp
index 041d041..58df42e 100644
--- a/ikSolver.cpp
+++ b/ikSolver.cpp
@@ -5,12 +5,14 @@
 namespace vb01{
 	void IkSolver::calculateFabrik(int chainLength, Bone **boneChain, Vector3 boneIkPos[], Vector3 targetPos){
 		float sumLengths = 0;
+
 		for(int i = 0; i < chainLength; i++)
 			sumLengths += boneChain[i]->getLength();
 		
 		Skeleton *skeleton = boneChain[0]->getSkeleton();
 		Bone *subBase = (Bone*)skeleton->getBone(boneChain[0]->getIkTarget())->getParent();
 		Vector3 startPos = subBase->globalToLocalPosition(boneChain[chainLength - 1]->localToGlobalPosition(Vector3::VEC_ZERO));
+		
 		if(startPos.getDistanceFrom(targetPos) < sumLengths){
 			int numIterations = 500;
 	
@@ -21,6 +23,7 @@ namespace vb01{
 					int boneId;
 					float length;
 					Vector3 ikPos, bonePos, fromBoneToIkPos;
+
 					if(backward){
 						boneId = j;
 						length = boneChain[boneId]->getLength();
@@ -28,6 +31,7 @@ namespace vb01{
 					}
 					else{
 						boneId = chainLength - 1 - j;
+
 						if(j == 0){
 							ikPos = startPos;
 							length = 0;
@@ -37,6 +41,7 @@ namespace vb01{
 							length = boneChain[boneId + 0]->getLength();
 						}
 					}
+
 					bonePos = boneIkPos[boneId];
 					fromBoneToIkPos = (ikPos - bonePos).norm();
 					boneIkPos[boneId] = ikPos - fromBoneToIkPos * length;
@@ -45,9 +50,11 @@ namespace vb01{
 		}
 		else{
 			Vector3 startToEndVec = (targetPos - startPos).norm();
+
 			for(int i = chainLength - 1; i >= 0; i--){
 				float length;
 				Vector3 bonePos;
+
 				if(i == chainLength - 1){
 					length = 0;
 					bonePos = boneIkPos[i];
@@ -56,6 +63,7 @@ namespace vb01{
 					length = boneChain[i]->getLength();
 					bonePos = boneIkPos[i + 1];
 				}
+
 				boneIkPos[i] = bonePos + startToEndVec * length;
 			}
 		}
diff --git a/node.cpp b/node.cpp
index b55ea71..6fa076a 100755
--- a/node.cpp
+++ b/node.cpp
@@ -111,6 +111,7 @@ namespace vb01{
 		child->setParent(this);
 		children.push_back(child);
 		child->updateAxis();
+		child->onAttached();
 	}
 
 	void Node::dettachChild(Node *child){
@@ -184,11 +185,12 @@ namespace vb01{
 		Vector3 xDir = orientation * Vector3(1, 0, 0),
 					 	yDir = orientation * Vector3(0, 1, 0),
 						zDir = orientation * Vector3(0, 0, 1);
-		newUp = Vector3(newUp.x, newUp.y, 0).norm();
+		//newUp = Vector3(newUp.x, newUp.y, 0).norm();
 
 		if(newUp != Vector3::VEC_ZERO){
 			float angle = yDir.getAngleBetween(newUp);
-			setOrientation(Quaternion(angle * (newUp.x < 0 ? 1 : -1), zDir) * orientation);
+			bool forw = (xDir.getAngleBetween(newUp) < PI / 2);
+			setOrientation(Quaternion(angle * (forw ? -1 : 1), zDir) * orientation);
 		}
 	}
 
diff --git a/node.h b/node.h
index 4d4e370..1b88f76 100755
--- a/node.h
+++ b/node.h
@@ -27,6 +27,7 @@ namespace vb01{
 			void attachMesh(Mesh*);
 			void attachParticleEmitter(ParticleEmitter*);
 			virtual void update();
+			virtual void onAttached(){}
 			void attachChild(Node*);
 			void dettachChild(Node*);
 			void addLight(Light*);
diff --git a/skeleton.cpp b/skeleton.cpp
index 74568ad..47e4a38 100644
--- a/skeleton.cpp
+++ b/skeleton.cpp
@@ -24,14 +24,17 @@ namespace vb01{
 			if(b->getIkTarget() != ""){
 				const int chainLength = b->getIkChainLength();
 				Bone **boneChain = getIkBoneChain(b);
+
 				for(int i = 0; i < chainLength; i++){
 					boneChain[i]->setPosePos(Vector3::VEC_ZERO);
 					boneChain[i]->setPoseRot(Quaternion::QUAT_W);
 					boneChain[i]->setPoseScale(Vector3::VEC_IJK);
 				}
+
 				delete[] boneChain;
 			}
 		}
+
 		for(Bone *b : bones)
 			if(getBone(b->getIkTarget()))
 				solveIk(b);
@@ -44,6 +47,7 @@ namespace vb01{
 
 		Bone **boneChain = getIkBoneChain(ikBone);
 		Vector3 *boneIkPos = new Vector3[chainLength];
+
 		for(int i = chainLength - 1; i >= 0; i--)
 			boneIkPos[i] = subBase->globalToLocalPosition(boneChain[i]->localToGlobalPosition(Vector3::VEC_ZERO));
 
@@ -57,10 +61,11 @@ namespace vb01{
 
 	void Skeleton::transformIkChain(int chainLength, Bone **boneChain, Vector3 boneIkPos[], Bone* ikTarget){
 		Bone *subBase = (Bone*)ikTarget->getParent();
+
 		for(int i = chainLength - 1; i >= 0; i--){
 			boneChain[i]->setPoseRot(Quaternion::QUAT_W);
-
 			Vector3 tailPosBoneSpace;
+
 			if(i == 0)
 				tailPosBoneSpace = subBase->globalToLocalPosition(ikTarget->localToGlobalPosition(Vector3::VEC_ZERO));
 			else
@@ -75,6 +80,7 @@ namespace vb01{
 			axis = 
 				boneChain[i]->globalToLocalPosition(subBase->localToGlobalPosition(axis)) - 
 				boneChain[i]->globalToLocalPosition(subBase->localToGlobalPosition(Vector3::VEC_ZERO));
+
 			if(axis == Vector3::VEC_ZERO)
 				axis = Vector3::VEC_I;
 
@@ -86,17 +92,20 @@ namespace vb01{
 	void Skeleton::addBone(Bone *bone, Bone *parent){
 		if(parent)
 			parent->attachChild(bone);
+
 		bone->setSkeleton(this);
 		bones.push_back(bone);
 	}
 
 	Bone* Skeleton::getBone(string name){
 		Bone *bone = nullptr;
+
 		for(Bone *b : bones)
 			if(b->getName() == name){
 				bone = b;
 				break;
 			}
+
 		return bone;
 	}
 
@@ -104,10 +113,12 @@ namespace vb01{
 		int chainLength = ikBone->getIkChainLength();
 		Bone **chain = new Bone*[chainLength];
 		Bone *ikBoneAncestor = ikBone;
+
 		for(int i = 0; i < chainLength; i++){
 			chain[i] = ikBoneAncestor;
 			ikBoneAncestor = (Bone*)ikBoneAncestor->getParent();
 		}
+
 		return chain;
 	}
 }