1 Joint IK solver help

Hello, I’m Emper.
For some time I have been going after Inverse Kinematics and even managed to make my own: However, they were never good.
I’m here to ask for help on how I can make a 1 joint solver ( R6 IK ) that would act just like the IKControl supporting Target’s rotation.
Any help is appreciated!

BEFORE REPLYNG:

Do NOT allegate the following posts:
“2 Joint IK Solver”
“IKB Module”
“R6 IKPF”

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