{"id":7565,"date":"2025-02-09T21:43:45","date_gmt":"2025-02-09T12:43:45","guid":{"rendered":"https:\/\/toshihiko-kato.com\/?p=7565"},"modified":"2025-07-08T13:09:09","modified_gmt":"2025-07-08T04:09:09","slug":"twist-support-joint","status":"publish","type":"post","link":"https:\/\/toshihiko-kato.com\/tk-3D\/rig-animation\/twist-support-joint\/","title":{"rendered":"Twist Joint \u3068 \u88dc\u52a9\u30b8\u30e7\u30a4\u30f3\u30c8"},"content":{"rendered":"\n<div aria-hidden=\"true\" class=\"wp-block-fsb-flexible-spacer fsb-flexible-spacer\"><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--lg\" style=\"height:12px\"><\/div><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--md\" style=\"height:6px\"><\/div><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--sm\" style=\"height:2px\"><\/div><\/div>\n\n\n\n<h2 class=\"wp-block-heading\">Twist joint &#8211; \u66f2\u3052\u3068\u637b\u308a\u3092\u5206\u3051\u305f\u30ce\u30fc\u30c9<\/h2>\n\n\n\n<p>\u624b\u9996\u30fb\u8db3\u9996\u306a\u3069\u306e\u3092\u66f2\u3052\u305f\u3068\u304d\u306b\u3001\u305d\u306e\u307e\u307e\u637b\u308a\u3092\u52a0\u3048\u3066\u524d\u8155\u3084\u8139\u811b\u304c\u81ea\u7136\u3068\u637b\u3089\u308c\u308b\u3088\u3046\u306a\u30b8\u30e7\u30a4\u30f3\u30c8\u3092\u3064\u304f\u308b\u3002\uff08\u52d5\u753b\u53c2\u7167\uff09<\/p>\n\n\n\n<figure class=\"wp-block-video\"><video controls src=\"https:\/\/toshihiko-kato.com\/wp-content\/uploads\/2025\/02\/Hand_Roll_bitRate2.mp4\"><\/video><\/figure>\n\n\n\n<p>\u5358\u306b\u30c4\u30a4\u30b9\u30c8\uff08\u637b\u308a\uff09\u30b8\u30e7\u30a4\u30f3\u30c8\u3092\u524d\u8155\u306b\u8ffd\u52a0\u3057\u305f\u3060\u3051\u3067\u306f\u3001\u624b\u9996\u3092\u66f2\u3052\u305f\u3068\u304d\u306bZ\u56de\u8ee2\u3067\u306f\u637b\u308b\u3053\u3068\u304c\u3067\u304d\u306a\u3044\u3002<\/p>\n\n\n\n<p>\u305d\u3053\u3067\u3001\u624b\u9996\u306e\u56de\u8ee2\u304b\u3089\u300c\u66f2\u3052\u300d\u306e\u6210\u5206\u3092\u5dee\u3057\u5f15\u3044\u3066\u300c\u637b\u308a\u300d\u3060\u3051\u3092\u53d6\u308a\u51fa\u3057\u3066\u4f7f\u3046\u3002<\/p>\n\n\n\n<div aria-hidden=\"true\" class=\"wp-block-fsb-flexible-spacer fsb-flexible-spacer\"><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--lg\" style=\"height:30px\"><\/div><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--md\" style=\"height:20px\"><\/div><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--sm\" style=\"height:5px\"><\/div><\/div>\n\n\n\n<h3 class=\"wp-block-heading\">\u30b8\u30e7\u30a4\u30f3\u30c8\u306e\u5411\u304d\uff08\u30d9\u30af\u30c8\u30eb\uff09\u3092\u53d6\u5f97\u3059\u308b\u30ce\u30fc\u30c9<\/h3>\n\n\n\n<h4 class=\"wp-block-heading\"><strong> composeMatrix \u3067Matrix\u3092\u751f\u6210<\/strong><\/h4>\n\n\n\n<p>\uff11\u3064\u3081\u306ecomposeMatrix\uff1a\u30b8\u30e7\u30a4\u30f3\u30c8\u306eX\u8ef8+1\u306e\u5ea7\u6a19\u3092\u53d6\u5f97\u3059\u308b\u305f\u3081\u3001\u300c\u5165\u529b\u79fb\u52d5X\u300d\u3092\u300c\uff11\u300d\u306b\u3059\u308b\u3002<\/p>\n\n\n\n<p>\uff12\u3064\u3081\u306ecomposeMatrix\uff1a\u30b8\u30e7\u30a4\u30f3\u30c8\u306e\u300c\u56de\u8ee2\u300d\u3092\u5165\u529b\u3059\u308b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img decoding=\"async\" src=\"https:\/\/toshihiko-kato.com\/wp-content\/uploads\/2025\/02\/\u30b9\u30af\u30ea\u30fc\u30f3\u30b7\u30e7\u30c3\u30c8-2025-02-11-135205.png\" alt=\"\" class=\"wp-image-7580\" style=\"width:448px;height:auto\"\/><\/figure>\n\n\n\n<div aria-hidden=\"true\" class=\"wp-block-fsb-flexible-spacer fsb-flexible-spacer\"><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--lg\" style=\"height:30px\"><\/div><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--md\" style=\"height:10px\"><\/div><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--sm\" style=\"height:2px\"><\/div><\/div>\n\n\n\n<h4 class=\"wp-block-heading\"><strong> multMatrix<\/strong>\u30ce\u30fc\u30c9<\/h4>\n\n\n\n<p>multMatrix\u306e\u5165\u529b0\u306b\uff11\u3064\u3081\u306e\u3001\u5165\u529b\uff11\u306b\uff12\u3064\u3081\u306ecomposeMatrix\u306e\u51fa\u529b\u884c\u5217\u3092\u63a5\u7d9a\u3059\u308b\u3002\uff08\uff12\u3064\u3092\u4e57\u7b97\u3059\u308b\u3053\u3068\u3067\u3001Matrix\u3092\u30b8\u30e7\u30a4\u30f3\u30c8\u306e\u5b50\u968e\u5c64\u3068\u3057\u3066\u6319\u52d5\u3055\u305b\u308b\u3002\uff09<\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img decoding=\"async\" src=\"https:\/\/toshihiko-kato.com\/wp-content\/uploads\/2025\/02\/\u30b9\u30af\u30ea\u30fc\u30f3\u30b7\u30e7\u30c3\u30c8-2025-02-11-140537.png\" alt=\"\" class=\"wp-image-7586\" style=\"width:678px;height:auto\"\/><\/figure>\n\n\n\n<div aria-hidden=\"true\" class=\"wp-block-fsb-flexible-spacer fsb-flexible-spacer\"><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--lg\" style=\"height:30px\"><\/div><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--md\" style=\"height:10px\"><\/div><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--sm\" style=\"height:2px\"><\/div><\/div>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>decomposeMatrix<\/strong>\u30ce\u30fc\u30c9<\/h3>\n\n\n\n<p>multiMatrix\u304b\u3089\u79fb\u52d5\u6210\u5206\u3092\u62bd\u51fa\u3059\u308b\u305f\u3081\u3001 decoomposeMatrix \u30ce\u30fc\u30c9\u3092\u4f5c\u6210\u3057\u3001\u8a08\u7b97\u7d50\u679c\u306e\u30de\u30c8\u30ea\u30c3\u30af\u30b9\u3092inputMatrix\u306b\u63a5\u7d9a\u3059\u308b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img decoding=\"async\" src=\"https:\/\/toshihiko-kato.com\/wp-content\/uploads\/2025\/02\/\u30b9\u30af\u30ea\u30fc\u30f3\u30b7\u30e7\u30c3\u30c8-2025-02-11-141020.png\" alt=\"\" class=\"wp-image-7587\" style=\"width:706px;height:auto\"\/><\/figure>\n\n\n\n<div aria-hidden=\"true\" class=\"wp-block-fsb-flexible-spacer fsb-flexible-spacer\"><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--lg\" style=\"height:30px\"><\/div><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--md\" style=\"height:10px\"><\/div><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--sm\" style=\"height:2px\"><\/div><\/div>\n\n\n\n<h3 class=\"wp-block-heading\">2\u3064\u306e\u30d9\u30af\u30c8\u30eb\u304b\u3089\u56de\u8ee2\u89d2\u5ea6\u3092\u8a08\u7b97\uff08 Bend \u56de\u8ee2\u306e\u53d6\u5f97\uff09<\/h3>\n\n\n\n<p>angleBetween\u30ce\u30fc\u30c9\u3092\u4f5c\u6210\u3002\u3000decomposeMatrix \u306e\u300c\u51fa\u529b\u79fb\u52d5\u300d\u3092 angleBetween\u306evector1\u3068vector2\u306b\u3064\u306a\u304e\u3001vector1\u306e\u63a5\u7d9a\u3092\u524a\u9664\u3059\u308b\u3053\u3068\u3067\u7d50\u679c\u3068\u3057\u3066\u30d9\u30af\u30c8\u30eb\u306e\u521d\u671f\u5024\u3092vector1\u306b\u6b8b\u3059\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img decoding=\"async\" src=\"https:\/\/toshihiko-kato.com\/wp-content\/uploads\/2025\/02\/\u30b9\u30af\u30ea\u30fc\u30f3\u30b7\u30e7\u30c3\u30c8-2025-02-11-142439.png\" alt=\"\" class=\"wp-image-7592\" style=\"width:686px;height:auto\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img decoding=\"async\" src=\"https:\/\/toshihiko-kato.com\/wp-content\/uploads\/2025\/02\/\u30b9\u30af\u30ea\u30fc\u30f3\u30b7\u30e7\u30c3\u30c8-2025-02-11-142547.png\" alt=\"\" class=\"wp-image-7593\" style=\"width:571px;height:auto\"\/><\/figure>\n\n\n\n<div aria-hidden=\"true\" class=\"wp-block-fsb-flexible-spacer fsb-flexible-spacer\"><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--lg\" style=\"height:30px\"><\/div><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--md\" style=\"height:10px\"><\/div><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--sm\" style=\"height:2px\"><\/div><\/div>\n\n\n\n<h3 class=\"wp-block-heading\">Bend\u56de\u8ee2\u3092Quaternion \u306b\u5909\u63db<\/h3>\n\n\n\n<p>axisAngleToQuat\u30ce\u30fc\u30c9\u3092\u4f5c\u6210\u3002\u3000Bend\u56de\u8ee2\u3092\u53d6\u5f97\u3057\u3066\u3044\u308bangleBetween\u30ce\u30fc\u30c9\u304b\u3089Axis\u3068Angle\u60c5\u5831\u3092axisAngleToQuat\u306b\u63a5\u7d9a\u3057\u3001Quaternion\u306b\u5909\u63db\u3059\u308b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img decoding=\"async\" src=\"https:\/\/toshihiko-kato.com\/wp-content\/uploads\/2025\/02\/\u30b9\u30af\u30ea\u30fc\u30f3\u30b7\u30e7\u30c3\u30c8-2025-02-11-171233.png\" alt=\"\" class=\"wp-image-7607\" style=\"width:729px;height:auto\"\/><\/figure>\n\n\n\n<div aria-hidden=\"true\" class=\"wp-block-fsb-flexible-spacer fsb-flexible-spacer\"><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--lg\" style=\"height:30px\"><\/div><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--md\" style=\"height:10px\"><\/div><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--sm\" style=\"height:2px\"><\/div><\/div>\n\n\n\n<h3 class=\"wp-block-heading\">Quaternion\u3092[\u9006Quarternion] \u306b\u5909\u63db<\/h3>\n\n\n\n<p>Quaternion\u3092QuarInvert\u30ce\u30fc\u30c9\u306b\u63a5\u7d9a\u3057\u3066\u300c\u9006Quaternion\u300d\u306b\u5909\u63db\u3059\u308b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img decoding=\"async\" src=\"https:\/\/toshihiko-kato.com\/wp-content\/uploads\/2025\/02\/\u30b9\u30af\u30ea\u30fc\u30f3\u30b7\u30e7\u30c3\u30c8-2025-02-11-143309.png\" alt=\"\" class=\"wp-image-7595\" style=\"width:718px;height:auto\"\/><\/figure>\n\n\n\n<div aria-hidden=\"true\" class=\"wp-block-fsb-flexible-spacer fsb-flexible-spacer\"><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--lg\" style=\"height:30px\"><\/div><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--md\" style=\"height:10px\"><\/div><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--sm\" style=\"height:2px\"><\/div><\/div>\n\n\n\n<h3 class=\"wp-block-heading\">Hand_Left\u306e\u76f4\u63a5\u306e\u300c\u56de\u8ee2\u300d<\/h3>\n\n\n\n<p>&nbsp;Hand_Left\u306e\u76f4\u63a5\u306e\u300c\u56de\u8ee2\u300d\u3092eulerToQuat\u306b\u63a5\u7d9a\u3057\u3066Quarternion\u306b\u5909\u63db\u3059\u308b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img decoding=\"async\" src=\"https:\/\/toshihiko-kato.com\/wp-content\/uploads\/2025\/02\/\u30b9\u30af\u30ea\u30fc\u30f3\u30b7\u30e7\u30c3\u30c8-2025-02-11-143639.png\" alt=\"\" class=\"wp-image-7596\" style=\"width:739px;height:auto\"\/><\/figure>\n\n\n\n<div aria-hidden=\"true\" class=\"wp-block-fsb-flexible-spacer fsb-flexible-spacer\"><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--lg\" style=\"height:30px\"><\/div><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--md\" style=\"height:10px\"><\/div><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--sm\" style=\"height:2px\"><\/div><\/div>\n\n\n\n<h3 class=\"wp-block-heading\">quatProd\u30ce\u30fc\u30c9<\/h3>\n\n\n\n<p>quatProd\u30ce\u30fc\u30c9\u3092\u4f5c\u6210\u3057\u3001Hand_Left\u30b8\u30e7\u30a4\u30f3\u30c8\u306eQuaternion\u306bBend\u6210\u5206\u306e\u300c\u9006Quaternion\u300d\u3092\u639b\u3051\u7b97\u3059\u308b\u3002<\/p>\n\n\n\n<p>Hand_Left\u30b8\u30e7\u30a4\u30f3\u30c8\u306eQuaternion\u304b\u3089Bend\u6210\u5206\u3092\u5dee\u3057\u5f15\u304f\u3053\u3068\u3067\u3001Roll\uff08\u637b\u308a\uff09\u56de\u8ee2\u3060\u3051\u3092\u53d6\u5f97\u3067\u304d\u308b\u3002<\/p>\n\n\n\n<p><strong>\uff08\u27a1\u3000Quaternion\u306e\u52a0\u7b97\u306f\u4e57\u7b97\u3067\u3001\u9664\u7b97\u306f\u9006\u6570\u306e\u4e57\u7b97\u3067\u884c\u3046\u3002\uff09<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img decoding=\"async\" src=\"https:\/\/toshihiko-kato.com\/wp-content\/uploads\/2025\/02\/\u30b9\u30af\u30ea\u30fc\u30f3\u30b7\u30e7\u30c3\u30c8-2025-02-11-144811.png\" alt=\"\" class=\"wp-image-7597\" style=\"width:731px;height:auto\"\/><\/figure>\n\n\n\n<div aria-hidden=\"true\" class=\"wp-block-fsb-flexible-spacer fsb-flexible-spacer\"><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--lg\" style=\"height:30px\"><\/div><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--md\" style=\"height:10px\"><\/div><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--sm\" style=\"height:2px\"><\/div><\/div>\n\n\n\n<h2 class=\"wp-block-heading\">Roll\u56de\u8ee2\u306b\u4fc2\u6570\u3092\u4e57\u7b97\u3057\u3066\u5272\u308a\u632f\u308b<\/h2>\n\n\n\n<p>Hand_Left\u306eRoll\u56de\u8ee2\u3060\u3051\u3092\u53d6\u308a\u51fa\u3057\u305f\u5f8c\u3001\u8098\u306b\u304b\u3051\u3066\u914d\u7f6e\u3057\u305f\uff13\u3064\u306etwist joint\u306b\u305d\u308c\u305e\u308c\u4fc2\u6570\u3092\u4e57\u3058\u3066\u5272\u308a\u632f\u308b\u3002\u3000\u624b\u9996\u304b\u3089\u8098\u306b\u304b\u3051\u3066 \uff11\u30010.75\u30010.5\u30010.25 \u306e\u4fc2\u6570\u3092\u4e57\u3058\u308b\u3053\u3068\u3067\u3001\u524d\u8155\u306e\u637b\u308a\uff08Roll\u56de\u8ee2\uff09\u3092\u8868\u73fe\u3059\u308b\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">\uff13\u3064\u306equarSlerp\u30ce\u30fc\u30c9<\/h3>\n\n\n\n<p>quatSlerp\u30ce\u30fc\u30c9\u3092\uff13\u3064\u4f5c\u6210\u3059\u308b\u3002 quatProd\u306e\u51fa\u529bQuarernion\u3092\u3001\u4f5c\u6210\u3057\u305f\u5404quarSlerp\u30ce\u30fc\u30c9\u306e\u5165\u529b\u30af\u30a6\u30a9\u30fc\u30bf\u30cb\u30aa\u30f3\uff11\u3068\uff12\u306b\u63a5\u7d9a\u3057\u3001\u305d\u306e\u5f8c\u3001\u5165\u529b\u30af\u30a6\u30a9\u30fc\u30bf\u30cb\u30aa\u30f3\uff11\u3092\u524a\u9664\u3057\u3066\u521d\u671f\u5024\u3092\u5165\u529b\uff11\u306b\u6b8b\u3057\u3066\u304a\u304f\u3002<\/p>\n\n\n\n<p>\u624b\u9996\u306e\u4f4d\u7f6e\u306b\u914d\u7f6e\u3057\u305fTwist joint\u306b\u306f \uff11\u3092\u4e57\u3058\u308b\u305f\u3081\u3001quatSlerp\u30ce\u30fc\u30c9\u306f\u5fc5\u8981\u306a\u3044\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large is-resized\"><img decoding=\"async\" src=\"https:\/\/toshihiko-kato.com\/wp-content\/uploads\/2025\/02\/\u30b9\u30af\u30ea\u30fc\u30f3\u30b7\u30e7\u30c3\u30c8-2025-02-11-162552-1024x603.png\" alt=\"\" class=\"wp-image-7598\" style=\"width:819px;height:auto\"\/><\/figure>\n\n\n\n<div aria-hidden=\"true\" class=\"wp-block-fsb-flexible-spacer fsb-flexible-spacer\"><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--lg\" style=\"height:30px\"><\/div><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--md\" style=\"height:10px\"><\/div><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--sm\" style=\"height:2px\"><\/div><\/div>\n\n\n\n<h3 class=\"wp-block-heading\">quatSlerp \u30a2\u30c8\u30ea\u30d3\u30e5\u30fc\u30c8<\/h3>\n\n\n\n<p>\uff13\u3064\u306e\u5404quarSlerp \u30ce\u30fc\u30c9\u306e\u30a2\u30c8\u30ea\u30d3\u30e5\u30fc\u30c8\u3067\u3001[ T ] \u306e\u5024\u306b\u4fc2\u6570 0.75\u30010.5\u30010.25 \u3092\u5165\u529b\u3059\u308b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img decoding=\"async\" src=\"https:\/\/toshihiko-kato.com\/wp-content\/uploads\/2025\/02\/\u30b9\u30af\u30ea\u30fc\u30f3\u30b7\u30e7\u30c3\u30c8-2025-02-11-164000.png\" alt=\"\" class=\"wp-image-7599\" style=\"width:489px;height:auto\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img decoding=\"async\" src=\"https:\/\/toshihiko-kato.com\/wp-content\/uploads\/2025\/02\/\u30b9\u30af\u30ea\u30fc\u30f3\u30b7\u30e7\u30c3\u30c8-2025-02-11-164122.png\" alt=\"\" class=\"wp-image-7600\" style=\"width:490px;height:auto\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img decoding=\"async\" src=\"https:\/\/toshihiko-kato.com\/wp-content\/uploads\/2025\/02\/\u30b9\u30af\u30ea\u30fc\u30f3\u30b7\u30e7\u30c3\u30c8-2025-02-11-164134.png\" alt=\"\" class=\"wp-image-7601\" style=\"width:493px;height:auto\"\/><\/figure>\n\n\n\n<div aria-hidden=\"true\" class=\"wp-block-fsb-flexible-spacer fsb-flexible-spacer\"><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--lg\" style=\"height:30px\"><\/div><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--md\" style=\"height:10px\"><\/div><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--sm\" style=\"height:2px\"><\/div><\/div>\n\n\n\n<h3 class=\"wp-block-heading\">quatToEuler\u3067\u30af\u30a9\u30fc\u30bf\u30a4\u30cb\u30aa\u30f3\u3092\u30aa\u30a4\u30e9\u30fc\u306b\u5909\u63db<\/h3>\n\n\n\n<p>\uff14\u3064\u306e\u51fa\u529bquaternion\uff08\u30af\u30a9\u30fc\u30bf\u30cb\u30aa\u30f3\uff09\u3092\uff14\u3064\u306equatToEuler\u30ce\u30fc\u30c9\u3092\u4f5c\u6210\u3057\u3001\u5404\u5165\u529bquaternion\u306b\u305d\u308c\u305e\u308c\u63a5\u7d9a\u3059\u308b\u3002<\/p>\n\n\n\n<p>quatToEuler\u3067\u3001euler\uff08\u30aa\u30a4\u30e9\u30fc\uff09\u89d2\u5ea6\u306b\u5909\u63db\u3057\u305f\u56de\u8ee2\u51fa\u529b\u3092\u3001\u5404Twist joint\u306eRotation \u306b\u63a5\u7d9a\u3057\u3066\u5b8c\u6210\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img decoding=\"async\" src=\"https:\/\/toshihiko-kato.com\/wp-content\/uploads\/2025\/02\/\u30b9\u30af\u30ea\u30fc\u30f3\u30b7\u30e7\u30c3\u30c8-2025-02-11-164843.png\" alt=\"\" class=\"wp-image-7602\" style=\"width:584px;height:auto\"\/><\/figure>\n\n\n\n<div aria-hidden=\"true\" class=\"wp-block-fsb-flexible-spacer fsb-flexible-spacer\"><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--lg\" style=\"height:30px\"><\/div><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--md\" style=\"height:10px\"><\/div><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--sm\" style=\"height:2px\"><\/div><\/div>\n\n\n\n<p><strong>\u3053\u3053\u307e\u3067\u306e\u3059\u3079\u3066\u306e\u30ce\u30fc\u30c9\u306e\u63a5\u7d9a<\/strong><\/p>\n\n\n\n<figure data-wp-context=\"{&quot;imageId&quot;:&quot;6a08eb684e69f&quot;}\" data-wp-interactive=\"core\/image\" data-wp-key=\"6a08eb684e69f\" class=\"wp-block-image size-large is-resized wp-lightbox-container\"><img decoding=\"async\" data-wp-class--hide=\"state.isContentHidden\" data-wp-class--show=\"state.isContentVisible\" data-wp-init=\"callbacks.setButtonStyles\" data-wp-on--click=\"actions.showLightbox\" data-wp-on--load=\"callbacks.setButtonStyles\" data-wp-on-window--resize=\"callbacks.setButtonStyles\" src=\"https:\/\/toshihiko-kato.com\/wp-content\/uploads\/2025\/02\/\u30b9\u30af\u30ea\u30fc\u30f3\u30b7\u30e7\u30c3\u30c8-2025-02-11-131228-1024x297.png\" alt=\"\" class=\"wp-image-7603\" style=\"width:820px;height:auto\"\/><button\n\t\t\tclass=\"lightbox-trigger\"\n\t\t\ttype=\"button\"\n\t\t\taria-haspopup=\"dialog\"\n\t\t\taria-label=\"\u62e1\u5927\u3059\u308b\"\n\t\t\tdata-wp-init=\"callbacks.initTriggerButton\"\n\t\t\tdata-wp-on--click=\"actions.showLightbox\"\n\t\t\tdata-wp-style--right=\"state.imageButtonRight\"\n\t\t\tdata-wp-style--top=\"state.imageButtonTop\"\n\t\t>\n\t\t\t<svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"12\" height=\"12\" fill=\"none\" viewBox=\"0 0 12 12\">\n\t\t\t\t<path fill=\"#fff\" d=\"M2 0a2 2 0 0 0-2 2v2h1.5V2a.5.5 0 0 1 .5-.5h2V0H2Zm2 10.5H2a.5.5 0 0 1-.5-.5V8H0v2a2 2 0 0 0 2 2h2v-1.5ZM8 12v-1.5h2a.5.5 0 0 0 .5-.5V8H12v2a2 2 0 0 1-2 2H8Zm2-12a2 2 0 0 1 2 2v2h-1.5V2a.5.5 0 0 0-.5-.5H8V0h2Z\" \/>\n\t\t\t<\/svg>\n\t\t<\/button><\/figure>\n\n\n\n<div aria-hidden=\"true\" class=\"wp-block-fsb-flexible-spacer fsb-flexible-spacer\"><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--lg\" style=\"height:90px\"><\/div><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--md\" style=\"height:45px\"><\/div><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--sm\" style=\"height:5px\"><\/div><\/div>\n\n\n\n<h2 class=\"wp-block-heading\">\u4f5c\u4f8b<\/h2>\n\n\n\n<p>Twist joint \u306b\u52a0\u3048\u3001\u30c9\u30ea\u30d6\u30f3\u30ad\u30fc\u306b\u3088\u308b\u9aa8\u683c\u30fb\u7b4b\u8089\u306e\u52d5\u304d\u3092\u7de8\u96c6\u3057\u3001Low\u30dd\u30ea\u30b4\u30f3\u306eCage\u30e2\u30c7\u30eb\u306b\u30b9\u30ad\u30cb\u30f3\u30b0\u3001\u30a6\u30a7\u30a4\u30c8\u8abf\u6574\u3092\u884c\u3063\u305f\u3002<\/p>\n\n\n\n<p>\u66f4\u306b\u3001High\u30dd\u30ea\u30b4\u30f3\u30e2\u30c7\u30eb\u3092\u4f5c\u6210\u3057\u3066\u3001Cage\u30e2\u30c7\u30eb\u306e\u30b9\u30ad\u30f3\u30a6\u30a7\u30a4\u30c8\u3092\u30b3\u30d4\u30fc\u3057\u3066\u79fb\u690d\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">\u811a\uff08\u30b1\u30fc\u30b8\u30e2\u30c7\u30eb\uff09<\/h3>\n\n\n\n<figure class=\"wp-block-video\"><video controls src=\"https:\/\/toshihiko-kato.com\/wp-content\/uploads\/2025\/02\/Suri_123_NodeKeep_002_PB01.mp4\"><\/video><\/figure>\n\n\n\n<div aria-hidden=\"true\" class=\"wp-block-fsb-flexible-spacer fsb-flexible-spacer\"><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--lg\" style=\"height:90px\"><\/div><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--md\" style=\"height:45px\"><\/div><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--sm\" style=\"height:5px\"><\/div><\/div>\n\n\n\n<h3 class=\"wp-block-heading\">\u811a\uff08High\u30e1\u30c3\u30b7\u30e5\u30e2\u30c7\u30eb\uff09<\/h3>\n\n\n\n<figure class=\"wp-block-video\"><video controls src=\"https:\/\/toshihiko-kato.com\/wp-content\/uploads\/2025\/02\/Suri_123_004_Leg_Hightpoly.0000-0560.mp4\"><\/video><\/figure>\n\n\n\n<div aria-hidden=\"true\" class=\"wp-block-fsb-flexible-spacer fsb-flexible-spacer\"><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--lg\" style=\"height:90px\"><\/div><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--md\" style=\"height:45px\"><\/div><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--sm\" style=\"height:5px\"><\/div><\/div>\n\n\n\n<h3 class=\"wp-block-heading\">\u8155\uff08\u30b1\u30fc\u30b8\u30e2\u30c7\u30eb\uff09<\/h3>\n\n\n\n<figure class=\"wp-block-video\"><video controls src=\"https:\/\/toshihiko-kato.com\/wp-content\/uploads\/2025\/02\/Suri_123__004_Arm_Low.0000-0560.mp4\"><\/video><\/figure>\n\n\n\n<div aria-hidden=\"true\" class=\"wp-block-fsb-flexible-spacer fsb-flexible-spacer\"><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--lg\" style=\"height:90px\"><\/div><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--md\" style=\"height:45px\"><\/div><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--sm\" style=\"height:5px\"><\/div><\/div>\n\n\n\n<h3 class=\"wp-block-heading\">\u8155\uff08High\u30e1\u30c3\u30b7\u30e5\u30e2\u30c7\u30eb\uff09<\/h3>\n\n\n\n<figure class=\"wp-block-video\"><video controls src=\"https:\/\/toshihiko-kato.com\/wp-content\/uploads\/2025\/02\/Suri_123_004_Arm_High.0000-0560.mp4\"><\/video><\/figure>\n\n\n\n<div aria-hidden=\"true\" class=\"wp-block-fsb-flexible-spacer fsb-flexible-spacer\"><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--lg\" style=\"height:90px\"><\/div><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--md\" style=\"height:45px\"><\/div><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--sm\" style=\"height:5px\"><\/div><\/div>\n\n\n\n<h3 class=\"wp-block-heading\">\u5168\u8eab &#8211; \u30b9\u30ad\u30f3\u30a6\u30a7\u30a4\u30c8 \u8abf\u6574<\/h3>\n\n\n\n<p>\u6700\u5f8c\u306b\u3001High\u30dd\u30ea\u30b4\u30f3\u30e2\u30c7\u30eb\u306e\u30b9\u30ad\u30f3\u30a6\u30a7\u30a4\u30c8\u306e\u5fae\u8abf\u6574\u3092\u884c\u3063\u305f\u7d50\u679c\u3002\u3000\u8098\u3001\u5927\u817f\u90e8\u306e\u30a6\u30a7\u30a4\u30c8\u304c\u3084\u3084\u6975\u7aef\u306b\u4f5c\u7528\u3057\u3066\u3044\u305f\u90e8\u5206\u3092\u8abf\u6574\u3057\u305f\u3002<\/p>\n\n\n\n<figure class=\"wp-block-video\"><video controls src=\"https:\/\/toshihiko-kato.com\/wp-content\/uploads\/2025\/02\/Suri_123_004_High.0000-0560.mp4\"><\/video><\/figure>\n\n\n\n<div aria-hidden=\"true\" class=\"wp-block-fsb-flexible-spacer fsb-flexible-spacer\"><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--lg\" style=\"height:90px\"><\/div><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--md\" style=\"height:45px\"><\/div><div class=\"fsb-flexible-spacer__device fsb-flexible-spacer__device--sm\" style=\"height:5px\"><\/div><\/div>\n\n\n\n\n","protected":false},"excerpt":{"rendered":"<p>Twist joint &#8211; \u66f2\u3052\u3068\u637b\u308a\u3092\u5206\u3051\u305f\u30ce\u30fc\u30c9 \u624b\u9996\u30fb\u8db3\u9996\u306a\u3069\u306e\u3092\u66f2\u3052\u305f\u3068\u304d\u306b\u3001\u305d\u306e\u307e\u307e\u637b\u308a\u3092\u52a0\u3048\u3066\u524d\u8155\u3084\u8139\u811b\u304c\u81ea\u7136\u3068\u637b\u3089\u308c\u308b\u3088\u3046\u306a\u30b8\u30e7\u30a4\u30f3\u30c8\u3092\u3064\u304f\u308b\u3002\uff08\u52d5\u753b\u53c2\u7167\uff09 \u5358\u306b\u30c4\u30a4\u30b9\u30c8\uff08\u637b\u308a\uff09\u30b8\u30e7\u30a4\u30f3\u30c8\u3092\u524d\u8155 [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":8088,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"swell_btn_cv_data":"","footnotes":""},"categories":[43,8,36],"tags":[],"class_list":["post-7565","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-animation","category-rig-animation","category-skeleton"],"_links":{"self":[{"href":"https:\/\/toshihiko-kato.com\/tk-3D\/wp-json\/wp\/v2\/posts\/7565","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/toshihiko-kato.com\/tk-3D\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/toshihiko-kato.com\/tk-3D\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/toshihiko-kato.com\/tk-3D\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/toshihiko-kato.com\/tk-3D\/wp-json\/wp\/v2\/comments?post=7565"}],"version-history":[{"count":19,"href":"https:\/\/toshihiko-kato.com\/tk-3D\/wp-json\/wp\/v2\/posts\/7565\/revisions"}],"predecessor-version":[{"id":8859,"href":"https:\/\/toshihiko-kato.com\/tk-3D\/wp-json\/wp\/v2\/posts\/7565\/revisions\/8859"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/toshihiko-kato.com\/tk-3D\/wp-json\/wp\/v2\/media\/8088"}],"wp:attachment":[{"href":"https:\/\/toshihiko-kato.com\/tk-3D\/wp-json\/wp\/v2\/media?parent=7565"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/toshihiko-kato.com\/tk-3D\/wp-json\/wp\/v2\/categories?post=7565"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/toshihiko-kato.com\/tk-3D\/wp-json\/wp\/v2\/tags?post=7565"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}