public virtual void FixedUpdateBones(RealHand targetHand, VCHand vcHand, int f)
{
RealFinger finger = targetHand.fingers[f];
Vector3 displacement = bones [bones.Length - 1].position - finger.bones [bones.Length - 1].position;
Vector3 force = posSD.GetForce(displacement, boneBodys [bones.Length - 1].velocity);
CapsuleCollider boneCol = boneCols [bones.Length - 1];
Vector3 I = CapsuleI(boneCol.radius, boneCol.height, posSD.m);
Quaternion targetRot = finger.bones[bones.Length - 1].rotation;
Quaternion boneRot = bones[bones.Length - 1].rotation;
Vector3 torque = rotSD.GetTorque(boneRot, targetRot, boneBodys[bones.Length - 1].angularVelocity, I);
MoveBones(vcHand, finger, force, torque);
}
//位置がずれる、なぜ....
public override void FixedUpdateBones(RealHand targetHand, VCHand vcHand, int f)
{
RealFinger finger = targetHand.fingers[f];
Vector3 targetLocalPos = finger.bones [bones.Length - 1].position - targetHand.palm.position;
Vector3 localPos = bones [bones.Length - 1].position - targetHand.palm.position;
Vector3 localVelocity = boneBodys [bones.Length - 1].velocity - vcHand.palmBody.velocity;
Vector3 force = posSD.GetForce(localPos - targetLocalPos, localVelocity);
CapsuleCollider boneCol = boneCols [bones.Length - 1];
Vector3 I = CapsuleI(boneCol.radius, boneCol.height, posSD.m);
Quaternion targetLocalRot = finger.bones [bones.Length - 1].rotation * Quaternion.Inverse(targetHand.palm.rotation);
Quaternion boneLocalRot = bones[bones.Length - 1].rotation * Quaternion.Inverse(targetHand.palm.rotation);
Vector3 localAngularVelocity = boneBodys [bones.Length - 1].angularVelocity - vcHand.palmBody.angularVelocity;
Vector3 torque = rotSD.GetTorque(boneLocalRot, targetLocalRot, localAngularVelocity, I);
MoveBones(vcHand, finger, force, torque);
}