diff --git a/core/src/main/java/com/zigythebird/playeranimcore/animation/AnimationController.java b/core/src/main/java/com/zigythebird/playeranimcore/animation/AnimationController.java
index 4c78a82..f017c5c 100644
--- a/core/src/main/java/com/zigythebird/playeranimcore/animation/AnimationController.java
+++ b/core/src/main/java/com/zigythebird/playeranimcore/animation/AnimationController.java
@@ -24,6 +24,7 @@
 
 package com.zigythebird.playeranimcore.animation;
 
+import com.zigythebird.playeranimcore.PlayerAnimLib;
 import com.zigythebird.playeranimcore.animation.keyframe.*;
 import com.zigythebird.playeranimcore.animation.keyframe.event.CustomKeyFrameEvents;
 import com.zigythebird.playeranimcore.animation.keyframe.event.data.CustomInstructionKeyframeData;
@@ -544,6 +545,9 @@ private void processCurrentAnimation(float adjustedTick, AnimationData animation
 					for (AdvancedPlayerAnimBone bone : this.bones.values()) {
 						bone.setToInitialPose();
 					}
+					for (PlayerAnimBone bone : this.pivotBones.values()) {
+						bone.setToInitialPose();
+					}
 
 					return;
 				} else {
@@ -561,6 +565,9 @@ private void processCurrentAnimation(float adjustedTick, AnimationData animation
 		for (PlayerAnimBone bone : this.bones.values()) {
 			bone.setToInitialPose();
 		}
+		for (PlayerAnimBone bone : this.pivotBones.values()) {
+			bone.setToInitialPose();
+		}
 
 		for (Map.Entry<String, BoneAnimation> entry : animation.boneAnimations().entrySet()) {
 			PlayerAnimBone bone = this.bones.getOrDefault(entry.getKey(), null);
@@ -632,27 +639,38 @@ protected void applyCustomPivotPoints() {
 		Map<String, String> parentsMap = this.currentAnimation.animation().parents();
 		if (parentsMap.isEmpty()) return;
 
-		List<PlayerAnimBone> bones1 = new ArrayList<>(this.bones.values());
-		for (PlayerAnimBone pivotBone : this.pivotBones.values()) {
-			if (!parentsMap.containsValue(pivotBone.getName()))
-				bones1.add(pivotBone);
+		Set<String> processedBones = new HashSet<>();
+		for (PlayerAnimBone bone : this.bones.values()) {
+			processBoneHierarchy(bone, parentsMap, processedBones);
+		}
+		for (PlayerAnimBone bone : this.pivotBones.values()) {
+			processBoneHierarchy(bone, parentsMap, processedBones);
 		}
+	}
 
-		for (PlayerAnimBone bone : bones1) {
-			if (parentsMap.containsKey(bone.getName())) {
-				this.activeBones.put(bone.getName(), bone);
+	private void processBoneHierarchy(PlayerAnimBone bone, Map<String, String> parentsMap, Set<String> processedBones) {
+		String boneName = bone.getName();
+		if (processedBones.contains(boneName)) return;
 
-				List<PivotBone> parents = new ArrayList<>();
-				PivotBone currentParent = this.pivotBones.get(parentsMap.get(bone.getName()));
-				parents.add(currentParent);
-				while (parentsMap.containsKey(currentParent.getName())) {
-					currentParent = this.pivotBones.get(parentsMap.get(currentParent.getName()));
-					parents.addFirst(currentParent);
-				}
+		String parentName = parentsMap.get(boneName);
+		if (parentName == null) {
+			processedBones.add(boneName);
+			return;
+		}
 
-				MatrixUtil.applyParentsToChild(bone, parents, this::getBonePosition);
-			}
+		PlayerAnimBone parent = this.pivotBones.get(parentName);
+		if (parent == null) parent = this.bones.get(parentName);
+		if (parent == null) {
+			PlayerAnimLib.LOGGER.error("Parent {} not found for {}", parentName, boneName);
+			return;
 		}
+
+		processBoneHierarchy(parent, parentsMap, processedBones);
+
+		this.activeBones.put(boneName, bone);
+		MatrixUtil.applyParentsToChild(bone, Collections.singletonList(parent), this::getBonePosition);
+
+		processedBones.add(boneName);
 	}
 
 	protected  <T extends KeyFrameData> void handleCustomKeyframe(T[] keyframes, @Nullable CustomKeyFrameEvents.CustomKeyFrameHandler<T> main, CustomKeyFrameEvents.CustomKeyFrameHandler<T> event, float animationTick, AnimationData animationData) {
diff --git a/core/src/main/java/com/zigythebird/playeranimcore/util/MatrixUtil.java b/core/src/main/java/com/zigythebird/playeranimcore/util/MatrixUtil.java
index 52f4184..ad4b6d3 100644
--- a/core/src/main/java/com/zigythebird/playeranimcore/util/MatrixUtil.java
+++ b/core/src/main/java/com/zigythebird/playeranimcore/util/MatrixUtil.java
@@ -12,6 +12,10 @@
  * Used for applying custom pivot bones to player bones
  */
 public class MatrixUtil {
+    public static void translateMatrixForBone(ModMatrix4f matrix, PlayerAnimBone bone) {
+        matrix.translate(-bone.getPosX(), bone.getPosY(), -bone.getPosZ());
+    }
+
     public static void rotateMatrixAroundBone(ModMatrix4f matrix, PlayerAnimBone bone) {
         if (bone.getRotZ() != 0 || bone.getRotY() != 0 || bone.getRotX() != 0)
             matrix.rotateZ(bone.getRotZ()).rotateY(bone.getRotY()).rotateX(bone.getRotX());
@@ -31,6 +35,7 @@ public static void translateAwayFromPivotPoint(ModMatrix4f matrix, Vec3f pivot)
 
     public static void prepMatrixForBone(ModMatrix4f matrix, PlayerAnimBone bone, Vec3f pivot) {
         translateToPivotPoint(matrix, pivot);
+        translateMatrixForBone(matrix, bone);
         rotateMatrixAroundBone(matrix, bone);
         scaleMatrixForBone(matrix, bone);
         translateAwayFromPivotPoint(matrix, pivot);
@@ -42,7 +47,6 @@ public static void applyParentsToChild(PlayerAnimBone child, Iterable<? extends
         for (PlayerAnimBone parent : parents) {
             Vec3f pivot = parent instanceof PivotBone pivotBone ? pivotBone.getPivot() : positions.apply(parent.getName());
             MatrixUtil.prepMatrixForBone(matrix, parent, pivot);
-            child.addPos(parent.getPosX(), parent.getPosY(), parent.getPosZ());
         }
 
         Vec3f defaultPos = positions.apply(child.getName());