private void Update()
{
gotoDirCenterPosition = sphereGoal.position;
goal = gotoDirCenterPosition;
distanceToTarget = Vector3.Distance(goal, alphaOrigin.transform.position);
zOffset = (alphaOrigin.transform.position.y - goal.y);
goal.x = -gotoDirCenterPosition.z;
goal.y = -gotoDirCenterPosition.x;
goal.z = gotoDirCenterPosition.y;
Vector3 angles = processIK();
gamma.goToInstant(new Vector3(0, angles.x, 0));
alpha.goToInstant(new Vector3(0, 0, angles.y));
beta.goToInstant(new Vector3(0, 0, angles.z));
}