diff --git a/CHANGELOG.MD b/CHANGELOG.MD
index 696caa3..87a1ecb 100644
--- a/CHANGELOG.MD
+++ b/CHANGELOG.MD
@@ -8,3 +8,6 @@
 # Version 0.2.0
 - Migrated to bevy 0.9
 - Removed debug_lines feature, to not have a third party bevy dependency.
+
+# Version 0.3.0
+- Migrated to bevy 0.10
diff --git a/Cargo.toml b/Cargo.toml
index 780ac5a..b2f6ed7 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "bevy_mod_inverse_kinematics"
-version = "0.2.0"
+version = "0.3.0"
 authors = ["Bram Buurlage <brambuurlage@gmail.com>"]
 edition = "2021"
 categories = ["game-engines", "graphics", "rendering"]
@@ -10,7 +10,7 @@ keywords = ["gamedev", "graphics", "bevy", "animation"]
 license = "MIT OR Apache-2.0"
 
 [dependencies]
-bevy = "0.9.0"
+bevy = "0.10"
 #bevy_prototype_debug_lines = { version = "0.9.1", features = ["3d"], optional = true }
 
 [features]
diff --git a/README.MD b/README.MD
index aac48d5..da6b93f 100644
--- a/README.MD
+++ b/README.MD
@@ -11,10 +11,11 @@ A [Bevy](https://github.com/bevyengine/bevy) plugin for inverse kinematics. Supp
 
 I intend to track the latest releases of Bevy.
 
-| bevy  | bevy_mod_inverse_kinematics |
-| ----- | --------------------------- |
-| 0.8.1 | 0.1                         |
-| 0.9.0 | 0.2                         |
+|  bevy  | bevy_mod_inverse_kinematics |
+| ------ | --------------------------- |
+|  0.8.1 | 0.1                         |
+|  0.9.0 | 0.2                         |
+| 0.10.0 | 0.3                         |
 
 ## Examples
 
diff --git a/examples/skin_mesh.rs b/examples/skin_mesh.rs
index 12b68e8..2edbe3b 100644
--- a/examples/skin_mesh.rs
+++ b/examples/skin_mesh.rs
@@ -1,4 +1,4 @@
-use bevy::prelude::*;
+use bevy::{prelude::*, window::WindowResolution};
 use bevy_mod_inverse_kinematics::*;
 
 #[derive(Component)]
@@ -7,11 +7,10 @@ pub struct ManuallyTarget(Vec4);
 fn main() {
     App::new()
         .add_plugins(DefaultPlugins.set(WindowPlugin {
-            window: WindowDescriptor {
-                width: 800.0,
-                height: 600.0,
+            primary_window: Some(Window {
+                resolution: WindowResolution::new(800.0, 600.0),
                 ..default()
-            },
+            }),
             ..default()
         }))
         .add_plugin(InverseKinematicsPlugin)
@@ -43,21 +42,11 @@ fn setup(
             });
         });
 
-    let size = 30.0;
     commands.spawn(DirectionalLightBundle {
         directional_light: DirectionalLight {
             color: Color::WHITE,
             illuminance: 10000.0,
             shadows_enabled: true,
-            shadow_projection: OrthographicProjection {
-                left: -size,
-                right: size,
-                bottom: -size,
-                top: size,
-                near: -size,
-                far: size,
-                ..default()
-            },
             ..default()
         },
         transform: Transform::from_xyz(-8.0, 8.0, 8.0).looking_at(Vec3::ZERO, Vec3::Y),
@@ -65,7 +54,10 @@ fn setup(
     });
 
     commands.spawn(PbrBundle {
-        mesh: meshes.add(Mesh::from(shape::Plane { size: 5.0 })),
+        mesh: meshes.add(Mesh::from(shape::Plane {
+            size: 5.0,
+            subdivisions: 0,
+        })),
         material: materials.add(StandardMaterial {
             base_color: Color::WHITE,
             ..default()
@@ -113,9 +105,10 @@ fn setup_ik(
             .spawn((
                 PbrBundle {
                     transform: Transform::from_xyz(0.3, 0.8, 0.2),
-                    mesh: meshes.add(Mesh::from(shape::Icosphere {
+                    mesh: meshes.add(Mesh::from(shape::UVSphere {
                         radius: 0.05,
-                        subdivisions: 1,
+                        sectors: 7,
+                        stacks: 7,
                     })),
                     material: materials.add(StandardMaterial {
                         base_color: Color::RED,
@@ -130,9 +123,10 @@ fn setup_ik(
         let pole_target = commands
             .spawn(PbrBundle {
                 transform: Transform::from_xyz(-1.0, 0.4, -0.2),
-                mesh: meshes.add(Mesh::from(shape::Icosphere {
+                mesh: meshes.add(Mesh::from(shape::UVSphere {
                     radius: 0.05,
-                    subdivisions: 1,
+                    sectors: 7,
+                    stacks: 7,
                 })),
                 material: materials.add(StandardMaterial {
                     base_color: Color::GREEN,
@@ -149,6 +143,7 @@ fn setup_ik(
             target,
             pole_target: Some(pole_target),
             pole_angle: -std::f32::consts::FRAC_PI_2,
+            enabled: true,
         });
     }
 }
diff --git a/src/lib.rs b/src/lib.rs
index 3f0229a..befbc3d 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -24,14 +24,15 @@ pub struct IkConstraint {
     /// If a pole target is set, the bone will roll toward the pole target.
     /// This angle is the offset to apply to the roll.
     pub pole_angle: f32,
+    /// Whether this constraint is enabled. Disabled constraints will be skipped.
+    pub enabled: bool,
 }
 
 impl Plugin for InverseKinematicsPlugin {
     fn build(&self, app: &mut App) {
-        app.add_system_to_stage(
-            CoreStage::PostUpdate,
+        app.add_system(
             solver::inverse_kinematics_system
-                .after(bevy::transform::TransformSystem::TransformPropagate),
+                //.after(bevy::transform::TransformSystem::TransformPropagate),
         );
     }
 }
diff --git a/src/solver.rs b/src/solver.rs
index 3939a0a..fdb3d21 100644
--- a/src/solver.rs
+++ b/src/solver.rs
@@ -16,6 +16,10 @@ pub fn inverse_kinematics_system(
     mut transforms: Query<(&mut Transform, &mut GlobalTransform)>,
 ) {
     for (entity, constraint) in query.iter() {
+        if !constraint.enabled {
+            continue;
+        }
+
         if let Err(e) = constraint.solve(
             entity,
             &parents,