Help with Inverse Kinematics (using FABRIK)

Hey everyone, I finally got my Fabrik solver working like I expected to except that it kind of looks weird:

As you can see, the joints aren’t really looking realistic. I’ve tried some solutions like using dot products and stuff, but they don’t seem to work. How can I make the movement more realistic? Thanks for your help.

P.S: I won’t be awake until tomorrow so sorry for a delayed response.

You’re gonna need to post code to get a meaningful response

You shouldn’t be using the center of the limbs as a point in the solver but rather the joints themselves. You also need to constraint the joints so that they dont turn in impossible angles. Also the initial point in the solver should be the lowertorso/upper leg hip joint not the upper leg itself, which is why its static.