diff --git a/server/core/src/main/java/dev/slimevr/tracking/processor/TwistSwingConstraint.kt b/server/core/src/main/java/dev/slimevr/tracking/processor/TwistSwingConstraint.kt
index 29ba31b382..9588b3dc29 100644
--- a/server/core/src/main/java/dev/slimevr/tracking/processor/TwistSwingConstraint.kt
+++ b/server/core/src/main/java/dev/slimevr/tracking/processor/TwistSwingConstraint.kt
@@ -7,27 +7,19 @@ import io.github.axisangles.ktmath.Vector3
  * A constraint type that allows for a rotation to be constrained relative to the parent
  * of the supplied bone
  */
-class TwistSwingConstraint(private val twist: Float, private val swing: Float) : Constraint() {
+class TwistSwingConstraint(twist: Float, swing: Float) : Constraint() {
 	private val twistRad = Math.toRadians(twist.toDouble()).toFloat()
 	private val swingRad = Math.toRadians(swing.toDouble()).toFloat()
 
 	override fun constraintRotation(rotation: Quaternion, thisBone: Bone): Quaternion {
-		// if there is no parent or no constraint return the direction
-		if (thisBone.parent == null || (swing.isNaN() && twist.isNaN())) {
-			return rotation
-		}
-
+		if (thisBone.parent == null) return rotation
 		val parent = thisBone.parent!!
 
-		// get the local rotation
 		val rotationLocal = (parent.getGlobalRotation() * thisBone.rotationOffset).inv() * rotation
-
-		// decompose in to twist and swing
 		var (swingQ, twistQ) = decompose(rotationLocal, Vector3.NEG_Y)
 
-		// apply the constraints
-		if (!swing.isNaN()) swingQ = constrain(swingQ, swingRad)
-		if (!twist.isNaN()) twistQ = constrain(twistQ, twistRad)
+		swingQ = constrain(swingQ, swingRad)
+		twistQ = constrain(twistQ, twistRad)
 
 		return parent.getGlobalRotation() * thisBone.rotationOffset * (swingQ * twistQ)
 	}
diff --git a/server/core/src/main/java/dev/slimevr/tracking/processor/skeleton/IKChain.kt b/server/core/src/main/java/dev/slimevr/tracking/processor/skeleton/IKChain.kt
index 3413d5993b..42222b5cc7 100644
--- a/server/core/src/main/java/dev/slimevr/tracking/processor/skeleton/IKChain.kt
+++ b/server/core/src/main/java/dev/slimevr/tracking/processor/skeleton/IKChain.kt
@@ -48,7 +48,6 @@ class IKChain(
 			(computedTailPosition?.getPosition()) ?: Vector3.NULL
 		}
 
-		// Set the end node to target
 		positions[positions.size - 1] = target
 
 		for (i in positions.size - 2 downTo 0) {
@@ -77,7 +76,6 @@ class IKChain(
 			positions[i] = positions[i - 1] + (direction * nodes[i - 1].length)
 		}
 
-		// Point the last bone at the target
 		var direction = (target - positions[positions.size - 2]).unit()
 		direction = setBoneRotation(nodes.last(), direction)
 		positions[positions.size - 1] = positions[positions.size - 2] + (direction * nodes.last().length)
@@ -106,6 +104,9 @@ class IKChain(
 		return sum
 	}
 
+	/**
+	 * Resets the chain to its default state
+	 */
 	fun resetChain() {
 		distToTargetSqr = Float.POSITIVE_INFINITY
 		centroidWeight = 1f
@@ -146,7 +147,7 @@ class IKChain(
 	}
 
 	/**
-	 * Allow constrained bones to deviate more per step
+	 * Allow constrained bones to deviate more
 	 */
 	fun decreaseConstraints() {
 		loosens++
diff --git a/server/core/src/main/java/dev/slimevr/tracking/processor/skeleton/IKSolver.kt b/server/core/src/main/java/dev/slimevr/tracking/processor/skeleton/IKSolver.kt
index 6fff5ae390..b93b78d419 100644
--- a/server/core/src/main/java/dev/slimevr/tracking/processor/skeleton/IKSolver.kt
+++ b/server/core/src/main/java/dev/slimevr/tracking/processor/skeleton/IKSolver.kt
@@ -4,7 +4,7 @@ import dev.slimevr.tracking.processor.Bone
 import dev.slimevr.tracking.trackers.Tracker
 
 /*
- * Implements FABRIK (Forwards And Backwards Reaching Inverse Kinematics) and allows
+ * Implements FABRIK (Forwards And Backwards Reaching Inverse Kinematics) to allow
  * positional trackers such as vive/tundra trackers to be used in conjunction with
  * IMU trackers
  */
@@ -30,11 +30,9 @@ class IKSolver(private val root: Bone) {
 	fun buildChains(trackers: List<Tracker>) {
 		chainList.clear()
 
-		// Extract the positional constraints
 		val positionalConstraints = extractPositionalConstraints(trackers)
 		val rotationalConstraints = extractRotationalConstraints(trackers)
 
-		// Build the system of chains
 		rootChain = chainBuilder(root, null, 0, positionalConstraints, rotationalConstraints)
 		populateChainList(rootChain!!)
 		addConstraints()
@@ -45,8 +43,7 @@ class IKSolver(private val root: Bone) {
 	}
 
 	/**
-	 * Reset the offsets of positional trackers. Should only be called right after a full reset
-	 * is performed.
+	 * Reset the offsets of positional trackers.
 	 */
 	fun resetOffsets() {
 		needsReset = true
@@ -91,9 +88,8 @@ class IKSolver(private val root: Bone) {
 		var chain = IKChain(boneList, parent, level, baseConstraint, tailConstraint)
 
 		if (currentBone.children.isNotEmpty()) {
-			val childrenList = mutableListOf<IKChain>()
-
 			// Build child chains
+			val childrenList = mutableListOf<IKChain>()
 			for (child in currentBone.children) {
 				val childChain = chainBuilder(child, chain, level + 1, positionalConstraints, rotationalConstraints)
 				if (neededChain(childChain)) {
@@ -229,7 +225,7 @@ class IKSolver(private val root: Bone) {
 			}
 			needsReset = false
 		}
-		
+
 		rootChain?.resetChain()
 
 		for (i in 0 until MAX_ITERATIONS) {