diff --git a/src/bone.cpp b/src/bone.cpp
index 670bf6a..787ce8e 100644
--- a/src/bone.cpp
+++ b/src/bone.cpp
@@ -137,29 +137,15 @@ void UltraleapBone::_bind_methods() {
     BIND_ENUM_CONSTANT(None);
 }
 
-void UltraleapBone::fill_bone_data(Ref<UltraleapBone> ul_bone, LEAP_BONE* bone, BoneType type, LEAP_BONE* previous_bone, LEAP_PALM* palm) {
-    ul_bone->type = type;
-    ul_bone->prev_joint = UltraleapTypes::ultraleap_vector3_to_godot_vector3(&bone->prev_joint);
-    ul_bone->next_joint = UltraleapTypes::ultraleap_vector3_to_godot_vector3(&bone->next_joint);
-    ul_bone->width = bone->width / 1000;
-    ul_bone->orientation = UltraleapTypes::ultraleap_quaternion_to_godot_quaternion(&bone->rotation);
+void UltraleapBone::fill_bone_data(Ref<UltraleapBone> bone, Ref<UltraleapBone> previous_bone, LEAP_BONE* leap_bone, BoneType type, LEAP_PALM* palm) {
+    bone->type = type;
+    bone->prev_joint = UltraleapTypes::ultraleap_vector3_to_godot_vector3(&leap_bone->prev_joint);
+    bone->next_joint = UltraleapTypes::ultraleap_vector3_to_godot_vector3(&leap_bone->next_joint);
+    bone->width = leap_bone->width / 1000;
+    bone->orientation = UltraleapTypes::ultraleap_quaternion_to_godot_quaternion(&leap_bone->rotation);
 
-    // If previous_bone is defined, we compute the transform from the previous bone to the current bone
-    if (previous_bone != NULL) {
-        Transform3D previous_bone_transform = Transform3D(
-            Basis(UltraleapTypes::ultraleap_quaternion_to_godot_quaternion(&previous_bone->rotation)),
-            UltraleapTypes::ultraleap_vector3_to_godot_vector3(&previous_bone->prev_joint)
-        );
-
-        Transform3D current_bone_transform = Transform3D(
-            Basis(ul_bone->orientation),
-            ul_bone->prev_joint
-        );
-
-        Transform3D relative_bone_transform = previous_bone_transform.inverse() * current_bone_transform;
-        ul_bone->rotation = relative_bone_transform.basis.get_quaternion();
-        ul_bone->translation = relative_bone_transform.origin;
-    }
+    previous_bone->next_bone = bone;
+    bone->previous_bone = previous_bone;
 
     // If palm is defined, this bone is either a metacarpal or an arm. We still compute relative transform though.
     if (palm != NULL) {
@@ -169,17 +155,34 @@ void UltraleapBone::fill_bone_data(Ref<UltraleapBone> ul_bone, LEAP_BONE* bone,
         );
 
         Transform3D current_bone_transform = Transform3D(
-            Basis(ul_bone->orientation),
-            type == UltraleapBone::BoneType::Arm ? ul_bone->next_joint : ul_bone->prev_joint
+            Basis(bone->orientation),
+            type == UltraleapBone::BoneType::Arm ? bone->next_joint : bone->prev_joint
         );
 
         Transform3D relative_bone_transform = previous_bone_transform.inverse() * current_bone_transform;
-        ul_bone->rotation = relative_bone_transform.basis.get_quaternion();
-        ul_bone->translation = relative_bone_transform.origin;
+        bone->rotation = relative_bone_transform.basis.get_quaternion();
+        bone->translation = relative_bone_transform.origin;
     }
 }
 
 void UltraleapBone::compute_bone_data(Ref<UltraleapBone> bone) {
     bone->center = (bone->prev_joint + bone->next_joint) / 2.0f;
     bone->length = (bone->prev_joint - bone->next_joint).length();
+
+    // If previous_bone is defined, we compute the transform from the previous bone to the current bone
+    if (bone->previous_bone != NULL) {
+        Transform3D previous_bone_transform = Transform3D(
+            Basis(bone->previous_bone->orientation),
+            bone->previous_bone->prev_joint
+        );
+
+        Transform3D current_bone_transform = Transform3D(
+            Basis(bone->orientation),
+            bone->prev_joint
+        );
+
+        Transform3D relative_bone_transform = previous_bone_transform.inverse() * current_bone_transform;
+        bone->rotation = relative_bone_transform.basis.get_quaternion();
+        bone->translation = relative_bone_transform.origin;
+    }
 }
\ No newline at end of file
diff --git a/src/bone.h b/src/bone.h
index a82bc42..03a31b6 100644
--- a/src/bone.h
+++ b/src/bone.h
@@ -42,6 +42,9 @@ public:
     Quaternion orientation;
     Quaternion rotation;
 
+    Ref<UltraleapBone> previous_bone;
+    Ref<UltraleapBone> next_bone;
+
     // Getters / Setters
     BoneType get_type() { return type; }
     void set_type(BoneType value) { type = value; }
@@ -70,7 +73,7 @@ public:
     Quaternion get_rotation() { return rotation; }
     void set_rotation(Quaternion value) { rotation = value; }
 
-    static void fill_bone_data(Ref<UltraleapBone> ul_bone, LEAP_BONE* bone, BoneType type, LEAP_BONE* previous_bone, LEAP_PALM* palm);
+    static void fill_bone_data(Ref<UltraleapBone> bone, Ref<UltraleapBone> previous_bone, LEAP_BONE* leap_bone, BoneType type, LEAP_PALM* palm = NULL);
     static void compute_bone_data(Ref<UltraleapBone> bone);
 protected:
     static void _bind_methods();
diff --git a/src/digit.cpp b/src/digit.cpp
index 625bdcc..b770be4 100644
--- a/src/digit.cpp
+++ b/src/digit.cpp
@@ -139,16 +139,16 @@ void UltraleapDigit::fill_digit_data(Ref<UltraleapDigit> ul_digit, LEAP_DIGIT* d
 
     // We need some extra logic here because the metacarpal doesn't exist in Ultraleap's hand data
     if (type == UltraleapDigit::FingerType::Thumb) {
-        UltraleapBone::fill_bone_data(ul_digit->proximal_ref, &digit->proximal, UltraleapBone::BoneType::Proximal, NULL, palm);
+        UltraleapBone::fill_bone_data(ul_digit->proximal_ref, NULL, &digit->proximal, UltraleapBone::BoneType::Proximal, palm);
 
         // Still filling it out but shouldn't be used
-        UltraleapBone::fill_bone_data(ul_digit->metacarpal_ref, &digit->metacarpal, UltraleapBone::BoneType::Metacarpal, NULL, palm);
+        UltraleapBone::fill_bone_data(ul_digit->metacarpal_ref, NULL, &digit->metacarpal, UltraleapBone::BoneType::Metacarpal, palm);
     }
     else {
-        UltraleapBone::fill_bone_data(ul_digit->metacarpal_ref, &digit->metacarpal, UltraleapBone::BoneType::Metacarpal, NULL, palm);
-        UltraleapBone::fill_bone_data(ul_digit->proximal_ref, &digit->proximal, UltraleapBone::BoneType::Proximal, &digit->metacarpal, NULL);
+        UltraleapBone::fill_bone_data(ul_digit->metacarpal_ref, NULL, &digit->metacarpal, UltraleapBone::BoneType::Metacarpal, palm);
+        UltraleapBone::fill_bone_data(ul_digit->proximal_ref, ul_digit->metacarpal_ref, &digit->proximal, UltraleapBone::BoneType::Proximal);
     }
 
-    UltraleapBone::fill_bone_data(ul_digit->intermediate_ref, &digit->intermediate, UltraleapBone::BoneType::Intermediate, &digit->proximal, NULL);
-    UltraleapBone::fill_bone_data(ul_digit->distal_ref, &digit->distal, UltraleapBone::BoneType::Distal, &digit->intermediate, NULL);
+    UltraleapBone::fill_bone_data(ul_digit->intermediate_ref, ul_digit->proximal_ref, &digit->intermediate, UltraleapBone::BoneType::Intermediate);
+    UltraleapBone::fill_bone_data(ul_digit->distal_ref, ul_digit->intermediate_ref, &digit->distal, UltraleapBone::BoneType::Distal);
 }
\ No newline at end of file
diff --git a/src/hand.cpp b/src/hand.cpp
index 098f2a0..7fa6873 100644
--- a/src/hand.cpp
+++ b/src/hand.cpp
@@ -266,7 +266,7 @@ void UltraleapHand::fill_hand_data(Ref<UltraleapHand> ul_hand, LEAP_HAND* hand)
     UltraleapDigit::fill_digit_data(ul_hand->get_ring(), &hand->ring, UltraleapDigit::FingerType::Ring, &hand->palm);
     UltraleapDigit::fill_digit_data(ul_hand->get_pinky(), &hand->pinky, UltraleapDigit::FingerType::Pinky, &hand->palm);
 
-    UltraleapBone::fill_bone_data(ul_hand->arm_ref, &hand->arm, UltraleapBone::BoneType::Arm, NULL, &hand->palm);
+    UltraleapBone::fill_bone_data(ul_hand->arm_ref, NULL, &hand->arm, UltraleapBone::BoneType::Arm, &hand->palm);
 
     ul_hand->wrist = Transform3D(Basis(ul_hand->palm_ref->orientation), ul_hand->arm_ref->next_joint);
 }
\ No newline at end of file