ICE Kinematics + Dynamic Pivot

So, today finally realised how to get good rotations from a planar controller (X and Z). So instead of using Euler which was giving me wrong results I just used ICE’s Rotation which requires an Axis and an Angle.

Arc Lenght Formula being used to get the Angle bit:  L= πθr / 180  <=> θ = 180L  / πr .
With this I can have the exact Angle from a controller position, given the Leghth of XZ vector.
For the Axis a simple cross product of the controller XZ with Y.

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