Unity3D : make cylinder stretch from one point to another

Question

I'd like, at each frame, to move, scale and rotate a given cylinder so that it behaves like a 'rope' between two points.

I have this code at the moment, but it doesn't work at all like intended :

hook.transform.position = (rightHandPosition + hookDestination)/2;

hook.transform.localScale = new Vector3(0.5F, Vector3.Magnitude(hookDestination - rightHandPosition), 0.5F);

hook.transform.rotation = Quaternion.Euler(hookDestination - rightHandPosition);

As you can guess the two points are rightHandPosition and hookDestination. For now, the cylinder spawns at 'random' locations, with 'random' rotations and enormous scales.

How can I fix it ?

"Full" script :

public class FirstPersonController : MonoBehaviour {

    public GameObject hook;
    bool isHooked = false;
    Vector3 hookDestination;
    Vector3 rightHandPosition;

    void Start() {
        hook.renderer.enabled = false;
        rightHandPosition = hook.transform.position;
    }

    // Update is called once per frame
    void Update () {
        if (isHooked) {
            hook.transform.position = (rightHandPosition + hookDestination)/2;
            hook.transform.localScale = new Vector3(0.5F, Vector3.Magnitude(hookDestination - rightHandPosition), 0.5F);
            hook.transform.rotation = Quaternion.Euler(hookDestination - rightHandPosition);
        }

        if (isHooked && !Input.GetMouseButton(1)) {
            isHooked = false;
            hook.renderer.enabled = false;
        }

        if (Input.GetMouseButtonDown (1) && !isHooked) {
            Ray ray = GameObject.FindGameObjectWithTag ("MainCamera").camera.ViewportPointToRay (new Vector3 (0.5F, 0.5F, 0));
            RaycastHit hit;
            if (Physics.Raycast (ray, out hit) && hit.distance < 5000000 && hit.collider.tag != "Player") {
                isHooked = true;
                hookDestination = hit.point;
                hook.renderer.enabled = true;
            }
        }
    }
}

A screenshot of the scene :

Answer 1

fafase's comment was the right answer : use LineRenderer.

hookRender.SetPosition(0, rightHandPosition);
hookRender.SetPosition(1, hookDestination);