Skinned meshes, FABRIK, and solving for rotations

Hi all,

As you may know, FABRIK (1) (2) only changes the positions of joints. AFAIK, rigged skinned meshes need their joints to rotate (at least mine do, perhaps I'm doing it wrong? This is for the legs of a bipedal non-humanoid).

Is anyone aware of how to solve for rotation after solving for positions? I got kind of close, but I was using Euler angles and I don't know how to account for the Euler's behavior shift after 90 degrees.

Please help my monster walk :cry_laugh_emoji_thing:


Cheers!