il, ct.pos );             // From Direction, Bone to Bind Tail
            vec3.normalize( from, from );

            vec3.sub( to, pnts[i+1].pos, ct.pos );          // To Direction, Bone to Fabrik Pos
            vec3.normalize( to, to );

            quat.rotationTo( q, from, to );             // Create Swing Rotation
            quat.mul( q, q, ct.rot );                   // Apply it to world space bind
            QuatUtil.pmulInvert( q, q, pt.rot );        // To Local

            pose.setLocalRot( lnk