FABRIK with joint constraints

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#1

I current have made my own FABRIK module, but in it’s current form, it’s very simple.
In my attempt to make it more customizable, I want to add Joint Constraints to it.
So for example if the constraints are (1, 0, 0), then it only rotates on the X axis relative to the previous bone or the Origin, (Which is a CFrame)

I’ve tried getting the previous bone’s CFrame and then multiplying the gotten orientation before making it global again, but all that did was make the Limb freakout and it didn’t give me the result I wanted.

STEPPING FUNCTIONS:

function ik:forwardStep()
	for i1 = #self.Limbs, 1, -1 do
		local i2 : number = i1 - 1 --ORIGIN LIMB
		local i3 : number = i1 + 1 --TARGET LIMB

		local limbOrigin : Vector3 = self.Origin.Position
		local limbTarget : Vector3 = self.Target

		if i3 <= #self.Limbs then
			limbTarget = utilities.getLimbStart(self.Limbs[i3], self.Lengths[i3]).Position
		end

		if i2 > 0 then
			limbOrigin = utilities.getLimbEnd(self.Limbs[i2], self.Lengths[i2]).Position
		end
		
		local desiredCFrame : CFrame = utilities.cframeMoveTo(self.Lengths[i1],limbOrigin,limbTarget)

		self.Limbs[i1] = desiredCFrame
	end
end

function ik:backwardStep()
	for i1 = 1, #self.Limbs do
		local i2 : number = i1 - 1--ORIGIN LIMB
		local i3 : number = i2 + 1 --TARGET LIMB

		local limbOrigin : Vector3 = self.Origin.Position
		local limbTarget : Vector3 = self.Target
		
		if i3 <= #self.Limbs then
			limbTarget = utilities.getLimbEnd(self.Limbs[i1], self.Lengths[i1]).Position
		end

		if i2 > 0 then
			limbOrigin = utilities.getLimbEnd(self.Limbs[i2], self.Lengths[i2]).Position
		end
		
		self.Limbs[i1] = utilities.cframePointTo(self.Lengths[i1],limbOrigin,limbTarget)
	end
end