ug.pnt.add( ct.pos, 0x00ff00 + i * 150, 2 );
            // debug.pnt.add( tail, 0x00ffff, 2 );
            // debug.pnt.add( this._bonePos[i+1], 0xffffff, 2 );

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

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

            quat.rotationTo( q, from, to );             // Create Swing Rotation
  