I'm trying to position an Entity with inverse kinematics while dragging the handle only, but use forward kinematics (pose jointTransforms) otherwise.
The System, Components, Gestures and Rig all seem to work individually. My approach is to add the IKComponent when dragging starts on the handle and removing the IKComponent it is released.
The switch into IK works, but when removing the IKComponent the App crashes
* thread #1, queue = 'com.apple.main-thread', stop reason = EXC_BAD_ACCESS (code=1, address=0x8)
* frame #0: 0x00000001aa5bb188 CoreRE`(anonymous namespace)::IKComponentSolverWrapper::getSolver() + 60
frame #1: 0x00000001aa5bafb0 CoreRE`re::internal::ikParametersNodeCallback(re::Slice<re::StringID>, re::Slice<re::RigDataValue>, re::Slice<re::StringID>, re::MutableSlice<re::RigDataValue>, void*) + 48
frame #2: 0x00000001aa52d090 CoreRE`re::(anonymous namespace)::resolveEvaluationContextCallback(re::EvaluationContext&, void*) + 152
frame #3: 0x00000001aa68c024 CoreRE`re::(anonymous namespace)::$_76::__invoke(re::Slice<unsigned long>, re::(anonymous namespace)::RegisterTable&) + 1080
frame #4: 0x00000001aa678c94 CoreRE`re::EvaluationModelSingleThread::evaluate(re::EvaluationContextSlices&) + 1188
frame #5: 0x00000001aa866984 CoreRE`re::SkeletalPoseRuntimeData::executeEvaluationTree() + 136
frame #6: 0x00000001aadf37ec CoreRE`re::ecs2::SkeletalPoseComponent::calculateSkeletalPoseBufferWithRig(re::ecs2::MeshComponent*, re::ecs2::RigComponent*, re::ecs2::SkeletalPoseBufferComponent*) + 492
frame #7: 0x00000001aadf4a84 CoreRE`re::ecs2::SkeletalPoseComponentStateImpl::processPreparingComponents(re::ecs2::System::UpdateContext const&, re::ecs2::BasicComponentStateSceneData<re::ecs2::SkeletalPoseComponent>*, re::ecs2::ComponentBuckets<re::ecs2::SkeletalPoseComponent>::BucketIteration, void*) + 268
frame #8: 0x00000001aadf54b0 CoreRE`re::ecs2::SkeletalPoseSystem::update(re::ecs2::System::UpdateContext) const + 732
frame #9: 0x00000001aaed3e54 CoreRE`re::internal::Callable<re::ecs2::ECSManager::configurePhaseECSSystems(re::Scheduler::ScheduleDescriptor&, re::ecs2::ECSSystemGroup, unsigned long)::$_1, void (float)>::operator()(float&&) const + 168
frame #10: 0x00000001ab40eda4 CoreRE`re::Scheduler::executePhase(unsigned long) + 440
frame #11: 0x00000001aa6a3b74 CoreRE`re::Engine::executePhase(re::FramePhase) + 144
frame #12: 0x000000023173de9c RealitySystemSupport`RCPSharedSimulationExecuteUpdate + 64
frame #13: 0x00000002276c9820 MRUIKit`__65-[MRUISharedSimulation _doJoinWithConnectionConfiguration:error:]_block_invoke.35 + 168
frame #14: 0x00000002276c8530 MRUIKit`__addCAPreFenceHandler_block_invoke + 32
frame #15: 0x000000018af22058 QuartzCore`CA::Transaction::run_commit_handlers(CATransactionPhase) + 112
frame #16: 0x000000018aef2ad4 QuartzCore`CA::Context::commit_transaction(CA::Transaction*, double, double*) + 592
frame #17: 0x000000018af21898 QuartzCore`CA::Transaction::commit() + 652
frame #18: 0x000000018af22dac QuartzCore`CA::Transaction::flush_as_runloop_observer(bool) + 68
frame #19: 0x0000000185a26820 UIKitCore`_UIApplicationFlushCATransaction + 48
frame #20: 0x0000000184f97af0 UIKitCore`_UIUpdateSequenceRun + 76
frame #21: 0x0000000185954290 UIKitCore`schedulerStepScheduledMainSection + 168
frame #22: 0x00000001859536d8 UIKitCore`runloopSourceCallback + 80
frame #23: 0x00000001804157fc CoreFoundation`__CFRUNLOOP_IS_CALLING_OUT_TO_A_SOURCE0_PERFORM_FUNCTION__ + 24
frame #24: 0x0000000180415744 CoreFoundation`__CFRunLoopDoSource0 + 172
frame #25: 0x0000000180414eb0 CoreFoundation`__CFRunLoopDoSources0 + 232
frame #26: 0x000000018040f454 CoreFoundation`__CFRunLoopRun + 788
frame #27: 0x000000018040ecd4 CoreFoundation`CFRunLoopRunSpecific + 552
frame #28: 0x0000000190104b70 GraphicsServices`GSEventRunModal + 160
frame #29: 0x0000000185a27e30 UIKitCore`-[UIApplication _run] + 796
frame #30: 0x0000000185a2c058 UIKitCore`UIApplicationMain + 124
frame #31: 0x00000001d29558b4 SwiftUI`closure #1 (Swift.UnsafeMutablePointer<Swift.Optional<Swift.UnsafeMutablePointer<Swift.Int8>>>) -> Swift.Never in SwiftUI.KitRendererCommon(Swift.AnyObject.Type) -> Swift.Never + 164
frame #32: 0x00000001d29555dc SwiftUI`SwiftUI.runApp<τ_0_0 where τ_0_0: SwiftUI.App>(τ_0_0) -> Swift.Never + 84
frame #33: 0x00000001d265ecdc SwiftUI`static SwiftUI.App.main() -> () + 164
frame #34: 0x000000010303f1c4 Playground.debug.dylib`static PlaygroundApp.$main() at <compiler-generated>:0
frame #35: 0x000000010303f290 Playground.debug.dylib`main at PlaygroundApp.swift:7:8
frame #36: 0x0000000102f6d410 dyld_sim`start_sim + 20
frame #37: 0x000000010312e274 dyld`start + 2840
Is there a workaround or another way to switch between IK and FK?