diff --git a/interface/src/Menu.cpp b/interface/src/Menu.cpp
index a48ee4e7db..f60f67869e 100644
--- a/interface/src/Menu.cpp
+++ b/interface/src/Menu.cpp
@@ -510,6 +510,8 @@ Menu::Menu() {
         avatar.get(), SLOT(setEnableInverseKinematics(bool)));
     addCheckableActionToQMenuAndActionHash(avatarDebugMenu, MenuOption::RenderSensorToWorldMatrix, 0, false,
         avatar.get(), SLOT(setEnableDebugDrawSensorToWorldMatrix(bool)));
+    addCheckableActionToQMenuAndActionHash(avatarDebugMenu, MenuOption::RenderIKTargets, 0, false,
+        avatar.get(), SLOT(setEnableDebugDrawIKTargets(bool)));
 
     addCheckableActionToQMenuAndActionHash(avatarDebugMenu, MenuOption::ActionMotorControl,
         Qt::CTRL | Qt::SHIFT | Qt::Key_K, true, avatar.get(), SLOT(updateMotionBehaviorFromMenu()),
diff --git a/interface/src/Menu.h b/interface/src/Menu.h
index b4eaf56758..14b2f4aeaa 100644
--- a/interface/src/Menu.h
+++ b/interface/src/Menu.h
@@ -161,6 +161,7 @@ namespace MenuOption {
     const QString RenderResolutionThird = "1/3";
     const QString RenderResolutionQuarter = "1/4";
     const QString RenderSensorToWorldMatrix = "Show SensorToWorld Matrix";
+    const QString RenderIKTargets = "Show IK Targets";
     const QString ResetAvatarSize = "Reset Avatar Size";
     const QString ResetSensors = "Reset Sensors";
     const QString RunningScripts = "Running Scripts...";
diff --git a/interface/src/avatar/MyAvatar.cpp b/interface/src/avatar/MyAvatar.cpp
index e0f4b55393..0d0390a365 100644
--- a/interface/src/avatar/MyAvatar.cpp
+++ b/interface/src/avatar/MyAvatar.cpp
@@ -491,6 +491,11 @@ void MyAvatar::simulate(float deltaTime) {
 
     {
         PerformanceTimer perfTimer("skeleton");
+
+        if (_rig) {
+            _rig->setEnableDebugDrawIKTargets(_enableDebugDrawIKTargets);
+        }
+
         _skeletonModel->simulate(deltaTime);
     }
 
@@ -916,6 +921,10 @@ void MyAvatar::setEnableDebugDrawSensorToWorldMatrix(bool isEnabled) {
     }
 }
 
+void MyAvatar::setEnableDebugDrawIKTargets(bool isEnabled) {
+    _enableDebugDrawIKTargets = isEnabled;
+}
+
 void MyAvatar::setEnableMeshVisible(bool isEnabled) {
     render::ScenePointer scene = qApp->getMain3DScene();
     _skeletonModel->setVisibleInScene(isEnabled, scene);
diff --git a/interface/src/avatar/MyAvatar.h b/interface/src/avatar/MyAvatar.h
index 9f93fa1bd2..add57cf5be 100644
--- a/interface/src/avatar/MyAvatar.h
+++ b/interface/src/avatar/MyAvatar.h
@@ -482,6 +482,7 @@ public slots:
     void setEnableDebugDrawPosition(bool isEnabled);
     void setEnableDebugDrawHandControllers(bool isEnabled);
     void setEnableDebugDrawSensorToWorldMatrix(bool isEnabled);
+    void setEnableDebugDrawIKTargets(bool isEnabled);
     bool getEnableMeshVisible() const { return _skeletonModel->isVisible(); }
     void setEnableMeshVisible(bool isEnabled);
     void setUseAnimPreAndPostRotations(bool isEnabled);
@@ -668,6 +669,7 @@ private:
     bool _enableDebugDrawAnimPose { false };
     bool _enableDebugDrawHandControllers { false };
     bool _enableDebugDrawSensorToWorldMatrix { false };
+    bool _enableDebugDrawIKTargets { false };
 
     AudioListenerMode _audioListenerMode;
     glm::vec3 _customListenPosition;
diff --git a/libraries/animation/src/AnimBlendLinear.cpp b/libraries/animation/src/AnimBlendLinear.cpp
index 52c440a14e..936126bf52 100644
--- a/libraries/animation/src/AnimBlendLinear.cpp
+++ b/libraries/animation/src/AnimBlendLinear.cpp
@@ -24,7 +24,7 @@ AnimBlendLinear::~AnimBlendLinear() {
 
 }
 
-const AnimPoseVec& AnimBlendLinear::evaluate(const AnimVariantMap& animVars, float dt, Triggers& triggersOut) {
+const AnimPoseVec& AnimBlendLinear::evaluate(const AnimVariantMap& animVars, const AnimContext& context, float dt, Triggers& triggersOut) {
 
     _alpha = animVars.lookup(_alphaVar, _alpha);
 
@@ -33,7 +33,7 @@ const AnimPoseVec& AnimBlendLinear::evaluate(const AnimVariantMap& animVars, flo
             pose = AnimPose::identity;
         }
     } else if (_children.size() == 1) {
-        _poses = _children[0]->evaluate(animVars, dt, triggersOut);
+        _poses = _children[0]->evaluate(animVars, context, dt, triggersOut);
     } else {
 
         float clampedAlpha = glm::clamp(_alpha, 0.0f, (float)(_children.size() - 1));
@@ -41,7 +41,7 @@ const AnimPoseVec& AnimBlendLinear::evaluate(const AnimVariantMap& animVars, flo
         size_t nextPoseIndex = glm::ceil(clampedAlpha);
         float alpha = glm::fract(clampedAlpha);
 
-        evaluateAndBlendChildren(animVars, triggersOut, alpha, prevPoseIndex, nextPoseIndex, dt);
+        evaluateAndBlendChildren(animVars, context, triggersOut, alpha, prevPoseIndex, nextPoseIndex, dt);
     }
     return _poses;
 }
@@ -51,15 +51,15 @@ const AnimPoseVec& AnimBlendLinear::getPosesInternal() const {
     return _poses;
 }
 
-void AnimBlendLinear::evaluateAndBlendChildren(const AnimVariantMap& animVars, Triggers& triggersOut, float alpha,
+void AnimBlendLinear::evaluateAndBlendChildren(const AnimVariantMap& animVars, const AnimContext& context, Triggers& triggersOut, float alpha,
                                                size_t prevPoseIndex, size_t nextPoseIndex, float dt) {
     if (prevPoseIndex == nextPoseIndex) {
         // this can happen if alpha is on an integer boundary
-        _poses = _children[prevPoseIndex]->evaluate(animVars, dt, triggersOut);
+        _poses = _children[prevPoseIndex]->evaluate(animVars, context, dt, triggersOut);
     } else {
         // need to eval and blend between two children.
-        auto prevPoses = _children[prevPoseIndex]->evaluate(animVars, dt, triggersOut);
-        auto nextPoses = _children[nextPoseIndex]->evaluate(animVars, dt, triggersOut);
+        auto prevPoses = _children[prevPoseIndex]->evaluate(animVars, context, dt, triggersOut);
+        auto nextPoses = _children[nextPoseIndex]->evaluate(animVars, context, dt, triggersOut);
 
         if (prevPoses.size() > 0 && prevPoses.size() == nextPoses.size()) {
             _poses.resize(prevPoses.size());
diff --git a/libraries/animation/src/AnimBlendLinear.h b/libraries/animation/src/AnimBlendLinear.h
index 2478f9b473..0dae6aabdb 100644
--- a/libraries/animation/src/AnimBlendLinear.h
+++ b/libraries/animation/src/AnimBlendLinear.h
@@ -30,7 +30,7 @@ public:
     AnimBlendLinear(const QString& id, float alpha);
     virtual ~AnimBlendLinear() override;
 
-    virtual const AnimPoseVec& evaluate(const AnimVariantMap& animVars, float dt, Triggers& triggersOut) override;
+    virtual const AnimPoseVec& evaluate(const AnimVariantMap& animVars, const AnimContext& context, float dt, Triggers& triggersOut) override;
 
     void setAlphaVar(const QString& alphaVar) { _alphaVar = alphaVar; }
 
@@ -38,7 +38,7 @@ protected:
     // for AnimDebugDraw rendering
     virtual const AnimPoseVec& getPosesInternal() const override;
 
-    void evaluateAndBlendChildren(const AnimVariantMap& animVars, Triggers& triggersOut, float alpha,
+    void evaluateAndBlendChildren(const AnimVariantMap& animVars, const AnimContext& context, Triggers& triggersOut, float alpha,
                                   size_t prevPoseIndex, size_t nextPoseIndex, float dt);
 
     AnimPoseVec _poses;
diff --git a/libraries/animation/src/AnimBlendLinearMove.cpp b/libraries/animation/src/AnimBlendLinearMove.cpp
index 609b464512..40fbb5a6f7 100644
--- a/libraries/animation/src/AnimBlendLinearMove.cpp
+++ b/libraries/animation/src/AnimBlendLinearMove.cpp
@@ -26,7 +26,7 @@ AnimBlendLinearMove::~AnimBlendLinearMove() {
 
 }
 
-const AnimPoseVec& AnimBlendLinearMove::evaluate(const AnimVariantMap& animVars, float dt, Triggers& triggersOut) {
+const AnimPoseVec& AnimBlendLinearMove::evaluate(const AnimVariantMap& animVars, const AnimContext& context, float dt, Triggers& triggersOut) {
 
     assert(_children.size() == _characteristicSpeeds.size());
 
@@ -43,7 +43,7 @@ const AnimPoseVec& AnimBlendLinearMove::evaluate(const AnimVariantMap& animVars,
         const int nextPoseIndex = 0;
         float prevDeltaTime, nextDeltaTime;
         setFrameAndPhase(dt, alpha, prevPoseIndex, nextPoseIndex, &prevDeltaTime, &nextDeltaTime, triggersOut);
-        evaluateAndBlendChildren(animVars, triggersOut, alpha, prevPoseIndex, nextPoseIndex, prevDeltaTime, nextDeltaTime);
+        evaluateAndBlendChildren(animVars, context, triggersOut, alpha, prevPoseIndex, nextPoseIndex, prevDeltaTime, nextDeltaTime);
     } else {
 
         auto clampedAlpha = glm::clamp(_alpha, 0.0f, (float)(_children.size() - 1));
@@ -52,7 +52,7 @@ const AnimPoseVec& AnimBlendLinearMove::evaluate(const AnimVariantMap& animVars,
         auto alpha = glm::fract(clampedAlpha);
         float prevDeltaTime, nextDeltaTime;
         setFrameAndPhase(dt, alpha, prevPoseIndex, nextPoseIndex, &prevDeltaTime, &nextDeltaTime, triggersOut);
-        evaluateAndBlendChildren(animVars, triggersOut, alpha, prevPoseIndex, nextPoseIndex, prevDeltaTime, nextDeltaTime);
+        evaluateAndBlendChildren(animVars, context, triggersOut, alpha, prevPoseIndex, nextPoseIndex, prevDeltaTime, nextDeltaTime);
     }
     return _poses;
 }
@@ -62,16 +62,16 @@ const AnimPoseVec& AnimBlendLinearMove::getPosesInternal() const {
     return _poses;
 }
 
-void AnimBlendLinearMove::evaluateAndBlendChildren(const AnimVariantMap& animVars, Triggers& triggersOut, float alpha,
+void AnimBlendLinearMove::evaluateAndBlendChildren(const AnimVariantMap& animVars, const AnimContext& context, Triggers& triggersOut, float alpha,
                                                    size_t prevPoseIndex, size_t nextPoseIndex,
                                                    float prevDeltaTime, float nextDeltaTime) {
     if (prevPoseIndex == nextPoseIndex) {
         // this can happen if alpha is on an integer boundary
-        _poses = _children[prevPoseIndex]->evaluate(animVars, prevDeltaTime, triggersOut);
+        _poses = _children[prevPoseIndex]->evaluate(animVars, context, prevDeltaTime, triggersOut);
     } else {
         // need to eval and blend between two children.
-        auto prevPoses = _children[prevPoseIndex]->evaluate(animVars, prevDeltaTime, triggersOut);
-        auto nextPoses = _children[nextPoseIndex]->evaluate(animVars, nextDeltaTime, triggersOut);
+        auto prevPoses = _children[prevPoseIndex]->evaluate(animVars, context, prevDeltaTime, triggersOut);
+        auto nextPoses = _children[nextPoseIndex]->evaluate(animVars, context, nextDeltaTime, triggersOut);
 
         if (prevPoses.size() > 0 && prevPoses.size() == nextPoses.size()) {
             _poses.resize(prevPoses.size());
diff --git a/libraries/animation/src/AnimBlendLinearMove.h b/libraries/animation/src/AnimBlendLinearMove.h
index 4e04ce29cb..083858f873 100644
--- a/libraries/animation/src/AnimBlendLinearMove.h
+++ b/libraries/animation/src/AnimBlendLinearMove.h
@@ -39,7 +39,7 @@ public:
     AnimBlendLinearMove(const QString& id, float alpha, float desiredSpeed, const std::vector<float>& characteristicSpeeds);
     virtual ~AnimBlendLinearMove() override;
 
-    virtual const AnimPoseVec& evaluate(const AnimVariantMap& animVars, float dt, Triggers& triggersOut) override;
+    virtual const AnimPoseVec& evaluate(const AnimVariantMap& animVars, const AnimContext& context, float dt, Triggers& triggersOut) override;
 
     void setAlphaVar(const QString& alphaVar) { _alphaVar = alphaVar; }
     void setDesiredSpeedVar(const QString& desiredSpeedVar) { _desiredSpeedVar = desiredSpeedVar; }
@@ -48,7 +48,7 @@ protected:
     // for AnimDebugDraw rendering
     virtual const AnimPoseVec& getPosesInternal() const override;
 
-    void evaluateAndBlendChildren(const AnimVariantMap& animVars, Triggers& triggersOut, float alpha,
+    void evaluateAndBlendChildren(const AnimVariantMap& animVars, const AnimContext& context, Triggers& triggersOut, float alpha,
                                   size_t prevPoseIndex, size_t nextPoseIndex,
                                   float prevDeltaTime, float nextDeltaTime);
 
diff --git a/libraries/animation/src/AnimClip.cpp b/libraries/animation/src/AnimClip.cpp
index cb1d058576..1118e21c91 100644
--- a/libraries/animation/src/AnimClip.cpp
+++ b/libraries/animation/src/AnimClip.cpp
@@ -31,7 +31,7 @@ AnimClip::~AnimClip() {
 
 }
 
-const AnimPoseVec& AnimClip::evaluate(const AnimVariantMap& animVars, float dt, Triggers& triggersOut) {
+const AnimPoseVec& AnimClip::evaluate(const AnimVariantMap& animVars, const AnimContext& context, float dt, Triggers& triggersOut) {
 
     // lookup parameters from animVars, using current instance variables as defaults.
     _startFrame = animVars.lookup(_startFrameVar, _startFrame);
diff --git a/libraries/animation/src/AnimClip.h b/libraries/animation/src/AnimClip.h
index 7989f6d172..c7e7ebf3ee 100644
--- a/libraries/animation/src/AnimClip.h
+++ b/libraries/animation/src/AnimClip.h
@@ -30,7 +30,7 @@ public:
     AnimClip(const QString& id, const QString& url, float startFrame, float endFrame, float timeScale, bool loopFlag, bool mirrorFlag);
     virtual ~AnimClip() override;
 
-    virtual const AnimPoseVec& evaluate(const AnimVariantMap& animVars, float dt, Triggers& triggersOut) override;
+    virtual const AnimPoseVec& evaluate(const AnimVariantMap& animVars, const AnimContext& context, float dt, Triggers& triggersOut) override;
 
     void setStartFrameVar(const QString& startFrameVar) { _startFrameVar = startFrameVar; }
     void setEndFrameVar(const QString& endFrameVar) { _endFrameVar = endFrameVar; }
diff --git a/libraries/animation/src/AnimContext.cpp b/libraries/animation/src/AnimContext.cpp
new file mode 100644
index 0000000000..c8d3e7bcda
--- /dev/null
+++ b/libraries/animation/src/AnimContext.cpp
@@ -0,0 +1,16 @@
+//
+//  AnimContext.cpp
+//
+//  Created by Anthony J. Thibault on 9/19/16.
+//  Copyright (c) 2016 High Fidelity, Inc. All rights reserved.
+//
+//  Distributed under the Apache License, Version 2.0.
+//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
+//
+
+#include "AnimContext.h"
+
+AnimContext::AnimContext(bool enableDebugDrawIKTargets, const glm::mat4& geometryToRigMatrix) :
+    _enableDebugDrawIKTargets(enableDebugDrawIKTargets),
+    _geometryToRigMatrix(geometryToRigMatrix) {
+}
diff --git a/libraries/animation/src/AnimContext.h b/libraries/animation/src/AnimContext.h
new file mode 100644
index 0000000000..3170911e14
--- /dev/null
+++ b/libraries/animation/src/AnimContext.h
@@ -0,0 +1,30 @@
+//
+//  AnimContext.h
+//
+//  Created by Anthony J. Thibault on 9/19/16.
+//  Copyright (c) 2016 High Fidelity, Inc. All rights reserved.
+//
+//  Distributed under the Apache License, Version 2.0.
+//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
+//
+
+#ifndef hifi_AnimContext_h
+#define hifi_AnimContext_h
+
+#include <glm/glm.hpp>
+#include <glm/gtc/quaternion.hpp>
+
+class AnimContext {
+public:
+    AnimContext(bool enableDebugDrawIKTargets, const glm::mat4& geometryToRigMatrix);
+
+    bool getEnableDebugDrawIKTargets() const { return _enableDebugDrawIKTargets; }
+    const glm::mat4& getGeometryToRigMatrix() const { return _geometryToRigMatrix; }
+
+protected:
+
+    bool _enableDebugDrawIKTargets { false };
+    glm::mat4 _geometryToRigMatrix;
+};
+
+#endif  // hifi_AnimContext_h
diff --git a/libraries/animation/src/AnimInverseKinematics.cpp b/libraries/animation/src/AnimInverseKinematics.cpp
index fa8e4654f6..2c9376d591 100644
--- a/libraries/animation/src/AnimInverseKinematics.cpp
+++ b/libraries/animation/src/AnimInverseKinematics.cpp
@@ -14,6 +14,8 @@
 #include <NumericalConstants.h>
 #include <SharedUtil.h>
 #include <shared/NsightHelpers.h>
+#include <DebugDraw.h>
+#include "Rig.h"
 
 #include "ElbowConstraint.h"
 #include "SwingTwistConstraint.h"
@@ -378,14 +380,14 @@ int AnimInverseKinematics::solveTargetWithCCD(const IKTarget& target, AnimPoseVe
 }
 
 //virtual
-const AnimPoseVec& AnimInverseKinematics::evaluate(const AnimVariantMap& animVars, float dt, AnimNode::Triggers& triggersOut) {
+const AnimPoseVec& AnimInverseKinematics::evaluate(const AnimVariantMap& animVars, const AnimContext& context, float dt, AnimNode::Triggers& triggersOut) {
     // don't call this function, call overlay() instead
     assert(false);
     return _relativePoses;
 }
 
 //virtual
-const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars, float dt, Triggers& triggersOut, const AnimPoseVec& underPoses) {
+const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars, const AnimContext& context, float dt, Triggers& triggersOut, const AnimPoseVec& underPoses) {
 
     const float MAX_OVERLAY_DT = 1.0f / 30.0f; // what to clamp delta-time to in AnimInverseKinematics::overlay
     if (dt > MAX_OVERLAY_DT) {
@@ -439,6 +441,28 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
             computeTargets(animVars, targets, underPoses);
         }
 
+        // debug render ik targets
+        if (context.getEnableDebugDrawIKTargets()) {
+            const vec4 WHITE(1.0f);
+            glm::mat4 rigToAvatarMat = createMatFromQuatAndPos(Quaternions::Y_180, glm::vec3());
+
+            for (auto& target : targets) {
+                glm::mat4 geomTargetMat = createMatFromQuatAndPos(target.getRotation(), target.getTranslation());
+                glm::mat4 avatarTargetMat = rigToAvatarMat * context.getGeometryToRigMatrix() * geomTargetMat;
+
+                QString name = QString("ikTarget%1").arg(target.getIndex());
+                DebugDraw::getInstance().addMyAvatarMarker(name, glmExtractRotation(avatarTargetMat), extractTranslation(avatarTargetMat), WHITE);
+            }
+        } else if (context.getEnableDebugDrawIKTargets() != _previousEnableDebugIKTargets) {
+            // remove markers if they were added last frame.
+            for (auto& target : targets) {
+                QString name = QString("ikTarget%1").arg(target.getIndex());
+                DebugDraw::getInstance().removeMyAvatarMarker(name);
+            }
+        }
+
+        _previousEnableDebugIKTargets = context.getEnableDebugDrawIKTargets();
+
         if (targets.empty()) {
             // no IK targets but still need to enforce constraints
             std::map<int, RotationConstraint*>::iterator constraintItr = _constraints.begin();
diff --git a/libraries/animation/src/AnimInverseKinematics.h b/libraries/animation/src/AnimInverseKinematics.h
index 892a5616b2..366e5f765e 100644
--- a/libraries/animation/src/AnimInverseKinematics.h
+++ b/libraries/animation/src/AnimInverseKinematics.h
@@ -34,8 +34,8 @@ public:
 
     void setTargetVars(const QString& jointName, const QString& positionVar, const QString& rotationVar, const QString& typeVar);
 
-    virtual const AnimPoseVec& evaluate(const AnimVariantMap& animVars, float dt, AnimNode::Triggers& triggersOut) override;
-    virtual const AnimPoseVec& overlay(const AnimVariantMap& animVars, float dt, Triggers& triggersOut, const AnimPoseVec& underPoses) override;
+    virtual const AnimPoseVec& evaluate(const AnimVariantMap& animVars, const AnimContext& context, float dt, AnimNode::Triggers& triggersOut) override;
+    virtual const AnimPoseVec& overlay(const AnimVariantMap& animVars, const AnimContext& context, float dt, Triggers& triggersOut, const AnimPoseVec& underPoses) override;
 
     void clearIKJointLimitHistory();
 
@@ -97,6 +97,7 @@ protected:
     int _maxTargetIndex { 0 };
 
     float _maxErrorOnLastSolve { FLT_MAX };
+    bool _previousEnableDebugIKTargets { false };
 };
 
 #endif // hifi_AnimInverseKinematics_h
diff --git a/libraries/animation/src/AnimManipulator.cpp b/libraries/animation/src/AnimManipulator.cpp
index f2bd2d983a..111501898a 100644
--- a/libraries/animation/src/AnimManipulator.cpp
+++ b/libraries/animation/src/AnimManipulator.cpp
@@ -22,11 +22,11 @@ AnimManipulator::~AnimManipulator() {
 
 }
 
-const AnimPoseVec& AnimManipulator::evaluate(const AnimVariantMap& animVars, float dt, Triggers& triggersOut) {
-    return overlay(animVars, dt, triggersOut, _skeleton->getRelativeBindPoses());
+const AnimPoseVec& AnimManipulator::evaluate(const AnimVariantMap& animVars, const AnimContext& context, float dt, Triggers& triggersOut) {
+    return overlay(animVars, context, dt, triggersOut, _skeleton->getRelativeBindPoses());
 }
 
-const AnimPoseVec& AnimManipulator::overlay(const AnimVariantMap& animVars, float dt, Triggers& triggersOut, const AnimPoseVec& underPoses) {
+const AnimPoseVec& AnimManipulator::overlay(const AnimVariantMap& animVars, const AnimContext& context, float dt, Triggers& triggersOut, const AnimPoseVec& underPoses) {
     _alpha = animVars.lookup(_alphaVar, _alpha);
 
     _poses = underPoses;
diff --git a/libraries/animation/src/AnimManipulator.h b/libraries/animation/src/AnimManipulator.h
index 8534b9c269..26f50a7dd9 100644
--- a/libraries/animation/src/AnimManipulator.h
+++ b/libraries/animation/src/AnimManipulator.h
@@ -22,8 +22,8 @@ public:
     AnimManipulator(const QString& id, float alpha);
     virtual ~AnimManipulator() override;
 
-    virtual const AnimPoseVec& evaluate(const AnimVariantMap& animVars, float dt, Triggers& triggersOut) override;
-    virtual const AnimPoseVec& overlay(const AnimVariantMap& animVars, float dt, Triggers& triggersOut, const AnimPoseVec& underPoses) override;
+    virtual const AnimPoseVec& evaluate(const AnimVariantMap& animVars, const AnimContext& context, float dt, Triggers& triggersOut) override;
+    virtual const AnimPoseVec& overlay(const AnimVariantMap& animVars, const AnimContext& context, float dt, Triggers& triggersOut, const AnimPoseVec& underPoses) override;
 
     void setAlphaVar(const QString& alphaVar) { _alphaVar = alphaVar; }
 
diff --git a/libraries/animation/src/AnimNode.h b/libraries/animation/src/AnimNode.h
index 23f2e1c7b3..10db38f42e 100644
--- a/libraries/animation/src/AnimNode.h
+++ b/libraries/animation/src/AnimNode.h
@@ -20,6 +20,7 @@
 
 #include "AnimSkeleton.h"
 #include "AnimVariant.h"
+#include "AnimContext.h"
 
 class QJsonObject;
 
@@ -72,9 +73,10 @@ public:
 
     AnimSkeleton::ConstPointer getSkeleton() const { return _skeleton; }
 
-    virtual const AnimPoseVec& evaluate(const AnimVariantMap& animVars, float dt, Triggers& triggersOut) = 0;
-    virtual const AnimPoseVec& overlay(const AnimVariantMap& animVars, float dt, Triggers& triggersOut, const AnimPoseVec& underPoses) {
-        return evaluate(animVars, dt, triggersOut);
+    virtual const AnimPoseVec& evaluate(const AnimVariantMap& animVars, const AnimContext& context, float dt, Triggers& triggersOut) = 0;
+    virtual const AnimPoseVec& overlay(const AnimVariantMap& animVars, const AnimContext& context, float dt, Triggers& triggersOut,
+                                       const AnimPoseVec& underPoses) {
+        return evaluate(animVars, context, dt, triggersOut);
     }
 
     void setCurrentFrame(float frame);
diff --git a/libraries/animation/src/AnimOverlay.cpp b/libraries/animation/src/AnimOverlay.cpp
index 8f60b972ce..dbc635af66 100644
--- a/libraries/animation/src/AnimOverlay.cpp
+++ b/libraries/animation/src/AnimOverlay.cpp
@@ -39,7 +39,7 @@ void AnimOverlay::buildBoneSet(BoneSet boneSet) {
     }
 }
 
-const AnimPoseVec& AnimOverlay::evaluate(const AnimVariantMap& animVars, float dt, Triggers& triggersOut) {
+const AnimPoseVec& AnimOverlay::evaluate(const AnimVariantMap& animVars, const AnimContext& context, float dt, Triggers& triggersOut) {
 
     // lookup parameters from animVars, using current instance variables as defaults.
     // NOTE: switching bonesets can be an expensive operation, let's try to avoid it.
@@ -51,8 +51,8 @@ const AnimPoseVec& AnimOverlay::evaluate(const AnimVariantMap& animVars, float d
     _alpha = animVars.lookup(_alphaVar, _alpha);
 
     if (_children.size() >= 2) {
-        auto& underPoses = _children[1]->evaluate(animVars, dt, triggersOut);
-        auto& overPoses = _children[0]->overlay(animVars, dt, triggersOut, underPoses);
+        auto& underPoses = _children[1]->evaluate(animVars, context, dt, triggersOut);
+        auto& overPoses = _children[0]->overlay(animVars, context, dt, triggersOut, underPoses);
 
         if (underPoses.size() > 0 && underPoses.size() == overPoses.size()) {
             _poses.resize(underPoses.size());
diff --git a/libraries/animation/src/AnimOverlay.h b/libraries/animation/src/AnimOverlay.h
index eda8847d40..2f34c07309 100644
--- a/libraries/animation/src/AnimOverlay.h
+++ b/libraries/animation/src/AnimOverlay.h
@@ -43,7 +43,7 @@ public:
     AnimOverlay(const QString& id, BoneSet boneSet, float alpha);
     virtual ~AnimOverlay() override;
 
-    virtual const AnimPoseVec& evaluate(const AnimVariantMap& animVars, float dt, Triggers& triggersOut) override;
+    virtual const AnimPoseVec& evaluate(const AnimVariantMap& animVars, const AnimContext& context, float dt, Triggers& triggersOut) override;
 
     void setBoneSetVar(const QString& boneSetVar) { _boneSetVar = boneSetVar; }
     void setAlphaVar(const QString& alphaVar) { _alphaVar = alphaVar; }
diff --git a/libraries/animation/src/AnimStateMachine.cpp b/libraries/animation/src/AnimStateMachine.cpp
index 41d8a94b0a..4e86b92c0b 100644
--- a/libraries/animation/src/AnimStateMachine.cpp
+++ b/libraries/animation/src/AnimStateMachine.cpp
@@ -21,7 +21,7 @@ AnimStateMachine::~AnimStateMachine() {
 
 }
 
-const AnimPoseVec& AnimStateMachine::evaluate(const AnimVariantMap& animVars, float dt, Triggers& triggersOut) {
+const AnimPoseVec& AnimStateMachine::evaluate(const AnimVariantMap& animVars, const AnimContext& context, float dt, Triggers& triggersOut) {
 
     QString desiredStateID = animVars.lookup(_currentStateVar, _currentState->getID());
     if (_currentState->getID() != desiredStateID) {
@@ -29,7 +29,7 @@ const AnimPoseVec& AnimStateMachine::evaluate(const AnimVariantMap& animVars, fl
         bool foundState = false;
         for (auto& state : _states) {
             if (state->getID() == desiredStateID) {
-                switchState(animVars, state);
+                switchState(animVars, context, state);
                 foundState = true;
                 break;
             }
@@ -42,7 +42,7 @@ const AnimPoseVec& AnimStateMachine::evaluate(const AnimVariantMap& animVars, fl
     // evaluate currentState transitions
     auto desiredState = evaluateTransitions(animVars);
     if (desiredState != _currentState) {
-        switchState(animVars, desiredState);
+        switchState(animVars, context, desiredState);
     }
 
     assert(_currentState);
@@ -62,7 +62,7 @@ const AnimPoseVec& AnimStateMachine::evaluate(const AnimVariantMap& animVars, fl
             } else if (_interpType == InterpType::SnapshotPrev) {
                 // interp between the prev snapshot and evaluated next target.
                 // this is useful for interping into a blend
-                localNextPoses = currentStateNode->evaluate(animVars, dt, triggersOut);
+                localNextPoses = currentStateNode->evaluate(animVars, context, dt, triggersOut);
                 prevPoses = &_prevPoses;
                 nextPoses = &localNextPoses;
             } else {
@@ -79,7 +79,7 @@ const AnimPoseVec& AnimStateMachine::evaluate(const AnimVariantMap& animVars, fl
         }
     }
     if (!_duringInterp) {
-        _poses = currentStateNode->evaluate(animVars, dt, triggersOut);
+        _poses = currentStateNode->evaluate(animVars, context, dt, triggersOut);
     }
     return _poses;
 }
@@ -92,7 +92,7 @@ void AnimStateMachine::addState(State::Pointer state) {
     _states.push_back(state);
 }
 
-void AnimStateMachine::switchState(const AnimVariantMap& animVars, State::Pointer desiredState) {
+void AnimStateMachine::switchState(const AnimVariantMap& animVars, const AnimContext& context, State::Pointer desiredState) {
 
     const float FRAMES_PER_SECOND = 30.0f;
 
@@ -114,7 +114,7 @@ void AnimStateMachine::switchState(const AnimVariantMap& animVars, State::Pointe
         _prevPoses = _poses;
         // snapshot next pose at the target frame.
         nextStateNode->setCurrentFrame(desiredState->_interpTarget);
-        _nextPoses = nextStateNode->evaluate(animVars, dt, triggers);
+        _nextPoses = nextStateNode->evaluate(animVars, context, dt, triggers);
     } else if (_interpType == InterpType::SnapshotPrev) {
         // snapshot previoius pose
         _prevPoses = _poses;
diff --git a/libraries/animation/src/AnimStateMachine.h b/libraries/animation/src/AnimStateMachine.h
index d92b94d1b5..711326a9ae 100644
--- a/libraries/animation/src/AnimStateMachine.h
+++ b/libraries/animation/src/AnimStateMachine.h
@@ -113,7 +113,7 @@ public:
     explicit AnimStateMachine(const QString& id);
     virtual ~AnimStateMachine() override;
 
-    virtual const AnimPoseVec& evaluate(const AnimVariantMap& animVars, float dt, Triggers& triggersOut) override;
+    virtual const AnimPoseVec& evaluate(const AnimVariantMap& animVars, const AnimContext& context, float dt, Triggers& triggersOut) override;
 
     void setCurrentStateVar(QString& currentStateVar) { _currentStateVar = currentStateVar; }
 
@@ -123,7 +123,7 @@ protected:
 
     void addState(State::Pointer state);
 
-    void switchState(const AnimVariantMap& animVars, State::Pointer desiredState);
+    void switchState(const AnimVariantMap& animVars, const AnimContext& context, State::Pointer desiredState);
     State::Pointer evaluateTransitions(const AnimVariantMap& animVars) const;
 
     // for AnimDebugDraw rendering
diff --git a/libraries/animation/src/Rig.cpp b/libraries/animation/src/Rig.cpp
index 0520e5c5a1..8b54f0ee92 100644
--- a/libraries/animation/src/Rig.cpp
+++ b/libraries/animation/src/Rig.cpp
@@ -950,9 +950,11 @@ void Rig::updateAnimations(float deltaTime, glm::mat4 rootTransform) {
         updateAnimationStateHandlers();
         _animVars.setRigToGeometryTransform(_rigToGeometryTransform);
 
+        AnimContext context(_enableDebugDrawIKTargets, getGeometryToRigTransform());
+
         // evaluate the animation
         AnimNode::Triggers triggersOut;
-        _internalPoseSet._relativePoses = _animNode->evaluate(_animVars, deltaTime, triggersOut);
+        _internalPoseSet._relativePoses = _animNode->evaluate(_animVars, context, deltaTime, triggersOut);
         if ((int)_internalPoseSet._relativePoses.size() != _animSkeleton->getNumJoints()) {
             // animations haven't fully loaded yet.
             _internalPoseSet._relativePoses = _animSkeleton->getRelativeDefaultPoses();
@@ -1427,9 +1429,10 @@ void Rig::computeAvatarBoundingCapsule(
 
     // call overlay twice: once to verify AnimPoseVec joints and again to do the IK
     AnimNode::Triggers triggersOut;
+    AnimContext context(false, glm::mat4());
     float dt = 1.0f; // the value of this does not matter
-    ikNode.overlay(animVars, dt, triggersOut, _animSkeleton->getRelativeBindPoses());
-    AnimPoseVec finalPoses =  ikNode.overlay(animVars, dt, triggersOut, _animSkeleton->getRelativeBindPoses());
+    ikNode.overlay(animVars, context, dt, triggersOut, _animSkeleton->getRelativeBindPoses());
+    AnimPoseVec finalPoses =  ikNode.overlay(animVars, context, dt, triggersOut, _animSkeleton->getRelativeBindPoses());
 
     // convert relative poses to absolute
     _animSkeleton->convertRelativePosesToAbsolute(finalPoses);
diff --git a/libraries/animation/src/Rig.h b/libraries/animation/src/Rig.h
index 41cc5cabc6..ea498e6a69 100644
--- a/libraries/animation/src/Rig.h
+++ b/libraries/animation/src/Rig.h
@@ -219,6 +219,8 @@ public:
 
     const glm::mat4& getGeometryToRigTransform() const { return _geometryToRigTransform; }
 
+    void setEnableDebugDrawIKTargets(bool enableDebugDrawIKTargets) { _enableDebugDrawIKTargets = enableDebugDrawIKTargets; }
+
 signals:
     void onLoadComplete();
 
@@ -324,7 +326,8 @@ protected:
 
     mutable uint32_t _jointNameWarningCount { 0 };
     float _maxHipsOffsetLength { 1.0f };
-    float _maxErrorOnLastSolve { 0.0f };
+
+    bool _enableDebugDrawIKTargets { false };
 
 private:
     QMap<int, StateHandler> _stateHandlers;