[Solved] How do I calculate the new Quaternions from translated points?

Surface Asks: How do I calculate the new Quaternions from translated points?
The code below is for a rag-doll using Verlet method, I have the correct points (or joints) positions, I just need the correct Quaternions, otherwise the resulting model looks like in the picture, I’m constraining the body to the bind pose on purpose for testing purposes.

Based on the two points, their position and quaternion, what will the new Quaternion be for each translated point?

Code:
struct Point
{
    XMVECTOR position = { 0,0,0 };
    XMVECTOR quaternion = { 0,0,0,-1 };
};

Point p1;
Point p2;

p1.position += { 0.0f,0.3f, 0.1f };
p2.position += { -1.0,0.3f,0.1f };


Vertices are all messed up, Im constraining the body to the bind pose on purpose

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