public void UpdateIKTargetPosition()
{
if (iktarget != null)
{
if (sprObject != null)
{
PHIKEndEffectorIf phIKee = sprObject as PHIKEndEffectorIf;
if (phIKee.GetOriCtlMode() == PHIKEndEffectorDesc.OriCtlMode.MODE_LOOKAT)
{
phIKee.SetTargetLookat(iktarget.transform.position.ToVec3d());
}
else
{
phIKee.SetTargetPosition(iktarget.transform.position.ToVec3d());
// 現在の姿勢からの回転角がより少ない方のQuaternionに変換
Quaterniond qT = iktarget.transform.rotation.ToQuaterniond();
Quaterniond qDiff = qT * phIKee.GetSolid().GetPose().Ori().Inv();
qDiff = Quaterniond.Rot(qDiff.RotationHalf());
qT = qDiff * phIKee.GetSolid().GetPose().Ori();
phIKee.SetTargetOrientation(qT);
}
}
}
if (ikLocalTarget != null)
{
if (sprObject != null)
{
Vec3d targetLocalPos = gameObject.transform.ToPosed().Inv() * ikLocalTarget.transform.position.ToVec3d();
phIKEndEffector.SetTargetLocalPosition(targetLocalPos);
}
}
}