How does the `ikHandle` command set up the initial pole vector? It seems to take the vector between the start joint and it's position and cast a vector orthogonal to it in the direction of the mid joint. I've found code showing me how to calculate orthogonal vectors, but none showing me how to do it when you only have one vector (the end joint - the start joint). How do I get the other two axis and determine which one to use for the pole vector?
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