1. Setup a 3 joint chain. This can be a arm or leg of a character.
2. Create an Ik handle RP solver with default settings on the joint chain.
3. Create an object to be used as the pole vector. I am using a nurbs surface in this example.
4. Now we have to make a point constraint. Select the first joint (root joint) of the chain, then shift select the last joint and then the nurbs object. Now with the above still selected create a point constraint. Leave the maintain offset unchecked.
5. Next an orient constraint. Select the middle joint of the chain and then shift select the nurbs object. Now create an orient constraint with default options. Make sure the maintain offset is unchecked.
6. Now delete the two newly created constraint nodes on the object. Use the hypergraph to do so. Find the object in the hypergraph and delete the point and orient constraint node under it.
7. Now freeze the object to reset its translation axis. Move it back towards the middle joint. Rotate the object in position if necessary and freeze the transformations again.
8. Select the object, then shift select the ik handle and create a pole vector constraint.
