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我是 Unity 的新手，我正在使用逆运动学做一个项目，一方面（用手指），我正在接收硬件旋转数据（四元数），如果我唯一的输入是如何移动我的手指是旋转，最后一个手指上的四元数，手腕上的另一个！我在这里使用 Dogzer 的反向运动学示例链接！

这里 我的目标手指的图像在远端手指上，我想仅使用ROTATION计算其他手指的角度。

using System.Collections;
using System.Collections.Generic;
using UnityEngine;

[ExecuteInEditMode]

public class InverseKinematics : MonoBehaviour {  

public Transform upperArm;
public Transform forearm;
public Transform hand;
public Transform elbow;
public Transform target;
[Space(20)]
public Vector3 uppperArm_OffsetRotation;
public Vector3 forearm_OffsetRotation;
public Vector3 hand_OffsetRotation;
[Space(20)]
public bool handMatchesTargetRotation = true;
[Space(20)]
public bool debug;

float angle;
float upperArm_Length;
float forearm_Length;
float arm_Length;
float targetDistance;
float adyacent;

// Use this for initialization
void Start () {

}

// Update is called once per frame
void LateUpdate () {
    if(upperArm != null && forearm != null && hand != null && elbow != null && target != null){
        upperArm.LookAt (target, elbow.position - upperArm.position);
        upperArm.Rotate (uppperArm_OffsetRotation);

        Vector3 cross = Vector3.Cross (elbow.position - upperArm.position, forearm.position - upperArm.position);



        upperArm_Length = Vector3.Distance (upperArm.position, forearm.position);
        forearm_Length =  Vector3.Distance (forearm.position, hand.position);
        arm_Length = upperArm_Length + forearm_Length;
        targetDistance = Vector3.Distance (upperArm.position, target.position);
        targetDistance = Mathf.Min (targetDistance, arm_Length - arm_Length * 0.001f);

        adyacent = ((upperArm_Length * upperArm_Length) - (forearm_Length * forearm_Length) + (targetDistance * targetDistance)) / (2*targetDistance);

        angle = Mathf.Acos (adyacent / upperArm_Length) * Mathf.Rad2Deg;

        upperArm.RotateAround (upperArm.position, cross, -angle);

        forearm.LookAt(target, cross);
        forearm.Rotate (forearm_OffsetRotation);

        if(handMatchesTargetRotation){
            hand.rotation = target.rotation;
            hand.Rotate (hand_OffsetRotation);
        }

        if(debug){
            if (forearm != null && elbow != null) {
                Debug.DrawLine (forearm.position, elbow.position, Color.blue);
            }

            if (upperArm != null && target != null) {
                Debug.DrawLine (upperArm.position, target.position, Color.red);
            }
        }

    }

}

void OnDrawGizmos(){
    if (debug) {
        if(upperArm != null && elbow != null && hand != null && target != null && elbow != null){
            Gizmos.color = Color.gray;
            Gizmos.DrawLine (upperArm.position, forearm.position);
            Gizmos.DrawLine (forearm.position, hand.position);
            Gizmos.color = Color.red;
            Gizmos.DrawLine (upperArm.position, target.position);
            Gizmos.color = Color.blue;
            Gizmos.DrawLine (forearm.position, elbow.position);
        }
    }
  }

}
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