How to make arms, torso, and head rotate and look at mouse?

https://gyazo.com/78f3f2309856a352f635406bca785ec7
this is what im trying to make right now but i cant quite get it to look right

this is something i found but it doesnt give me the right result

resulting in this
https://gyazo.com/b48d159fe19b5b90b37c34c2c1124f36

You might need to exclude your character from the raycast or whatever the dude used to point at.