diff --git a/Assets/VRM10/Editor/Components/Constraint/VRM10AimConstraintEditor.cs b/Assets/VRM10/Editor/Components/Constraint/VRM10AimConstraintEditor.cs
index 1521bda5d..cc162f34d 100644
--- a/Assets/VRM10/Editor/Components/Constraint/VRM10AimConstraintEditor.cs
+++ b/Assets/VRM10/Editor/Components/Constraint/VRM10AimConstraintEditor.cs
@@ -29,6 +29,7 @@ namespace UniVRM10
 
         static void DrawAimUp(Quaternion rot, Vector3 pos, Color c)
         {
+            Handles.matrix = Matrix4x4.identity;
             Handles.color = c;
             // aim
             var aim = pos + rot * Vector3.forward * 0.3f;
@@ -52,36 +53,36 @@ namespace UniVRM10
             Handles.DrawLine(m_target.Source.position, m_target.transform.position);
 
             var pos = m_target.transform.position;
-            TR.FromWorld(m_target.transform).Draw(0.2f);
 
-            // EditorGUI.BeginChangeCheck();
-            // var pr = m_target.ParentRotation;
+            var pr = m_target.ParentRotation;
 
-            // if (m_target.Logic == null)
-            // {
-            //     TR.FromWorld(m_target.transform).Draw(0.2f);
+            if (m_target.Logic == null)
+            {
+                EditorGUI.BeginChangeCheck();
+                TR.FromWorld(m_target.transform).Draw(0.2f);
 
-            //     Handles.matrix = Matrix4x4.identity;
-            //     var rot = Handles.RotationHandle(pr * m_target.DestinationOffset, pos);
-            //     if (EditorGUI.EndChangeCheck())
-            //     {
-            //         Undo.RecordObject(m_target, "Rotated RotateAt Point");
-            //         m_target.DestinationOffset = Quaternion.Inverse(pr) * rot;
-            //     }
+                Handles.matrix = Matrix4x4.identity;
+                var rot = Handles.RotationHandle(pr * m_target.DestinationOffset, pos);
+                if (EditorGUI.EndChangeCheck())
+                {
+                    Undo.RecordObject(m_target, "Rotated RotateAt Point");
+                    m_target.DestinationOffset = Quaternion.Inverse(pr) * rot;
+                }
 
-            //     DrawAimUp(rot, pos, Color.yellow);
-            // }
-            // else
-            // {
-            //     var rot = m_target.ParentRotation * m_target.Logic.InitialLocalRotation * m_target.DestinationOffset;
-            //     DrawAimUp(rot, m_target.transform.position, Color.yellow);
-            //     DrawAimUp(m_target.transform.rotation * m_target.Delta, m_target.transform.position, Color.magenta);
+                DrawAimUp(rot, pos, Color.yellow);
+            }
+            else
+            {
+                var init = m_target.ParentRotation * m_target.Logic.InitialLocalRotation;
+                DrawAimUp(init * m_target.DestinationOffset, m_target.transform.position, Color.yellow);
+                new TR(init, m_target.transform.position).Draw(0.2f);
+                DrawAimUp(m_target.transform.rotation, m_target.transform.position, Color.magenta);
 
-            //     var sb = new StringBuilder();
-            //     sb.AppendLine($"yaw: {m_target.Yaw:0.}");
-            //     sb.AppendLine($"pitch: {m_target.Pitch:0.}");
-            //     Handles.Label(m_target.transform.position, sb.ToString(), Style);
-            // }
+                var sb = new StringBuilder();
+                sb.AppendLine($"yaw: {m_target.Yaw:0.}");
+                sb.AppendLine($"pitch: {m_target.Pitch:0.}");
+                Handles.Label(m_target.transform.position, sb.ToString(), Style);
+            }
         }
     }
 }
diff --git a/Assets/VRM10/Runtime/Components/Constraint/VRM10AimConstraint.cs b/Assets/VRM10/Runtime/Components/Constraint/VRM10AimConstraint.cs
index c9d4feee8..c70beaf15 100644
--- a/Assets/VRM10/Runtime/Components/Constraint/VRM10AimConstraint.cs
+++ b/Assets/VRM10/Runtime/Components/Constraint/VRM10AimConstraint.cs
@@ -22,19 +22,18 @@ namespace UniVRM10
 
         public Quaternion ParentRotation => transform.parent == null ? Quaternion.identity : transform.parent.rotation;
 
-        // [SerializeField]
-        // public Quaternion DestinationOffset = Quaternion.identity;
-
-        // public class AimLogic
-        // {
-        //     public readonly Quaternion InitialLocalRotation;
-        //     public AimLogic(Quaternion initialLocalRotation)
-        //     {
-        //         InitialLocalRotation = initialLocalRotation;
-        //     }
-        // }
-        // public AimLogic Logic { get; private set; }
+        [SerializeField]
+        public Quaternion DestinationOffset = Quaternion.identity;
 
+        public class AimLogic
+        {
+            public readonly Quaternion InitialLocalRotation;
+            public AimLogic(Quaternion initialLocalRotation)
+            {
+                InitialLocalRotation = initialLocalRotation;
+            }
+        }
+        public AimLogic Logic { get; private set; }
 
         void Start()
         {
@@ -44,10 +43,10 @@ namespace UniVRM10
                 return;
             }
 
-            // if (Logic == null)
-            // {
-            //     Logic = new AimLogic(transform.localRotation);
-            // }
+            if (Logic == null)
+            {
+                Logic = new AimLogic(transform.localRotation);
+            }
         }
 
         /// <summary>
@@ -56,14 +55,15 @@ namespace UniVRM10
         /// </summary>
         public override void Process()
         {
-            // if (Logic == null)
-            // {
-            //     return;
-            // }
+            if (Logic == null)
+            {
+                return;
+            }
 
-            var m = Matrix4x4.Rotate(ParentRotation);
-            m.CalcYawPitch(Source.position - transform.position, out Yaw, out Pitch);
-            Delta = Quaternion.Euler(0, Yaw, 0) * Quaternion.Euler(-Pitch, 0, 0);
+            // var init = ParentRotation * Logic.InitialLocalRotation;
+            var m = Matrix4x4.TRS(transform.position, ParentRotation * DestinationOffset, Vector3.one);
+            (Yaw, Pitch) = m.CalcYawPitch(Source.position);
+            Delta = Quaternion.Euler(0, Yaw, 0) * Quaternion.Euler(Pitch, 0, 0);
             transform.rotation = ParentRotation * Delta;
         }
 
diff --git a/Assets/VRM10/Runtime/Components/LookAt/Matrix4x4Extensions.cs b/Assets/VRM10/Runtime/Components/LookAt/Matrix4x4Extensions.cs
index 0cd2da454..bf1806ca7 100644
--- a/Assets/VRM10/Runtime/Components/LookAt/Matrix4x4Extensions.cs
+++ b/Assets/VRM10/Runtime/Components/LookAt/Matrix4x4Extensions.cs
@@ -6,6 +6,30 @@ namespace UniVRM10
 {
     public static class Matrix4x4Extensions
     {
+        /// <summary>
+        /// from AimConstraint
+        /// </summary>
+        /// <param name="Yaw"></param>
+        /// <param name="m"></param>
+        /// <param name="target"></param>
+        /// <returns></returns>
+        public static (float Yaw, float Pitch) CalcYawPitch(this Matrix4x4 m, Vector3 target)
+        {
+            var p = m.GetColumn(3);
+            target -= new Vector3(p.x, p.y, p.z);
+            var zaxis = Vector3.Project(target, m.GetColumn(2));
+            var yaxis = Vector3.Project(target, m.GetColumn(1));
+            var xaxis = Vector3.Project(target, m.GetColumn(0));
+
+            var yawPlusMinus = Vector3.Dot(xaxis, m.GetColumn(0)) > 0 ? 1.0f : -1.0f;
+            var yaw = (float)Math.Atan2(xaxis.magnitude, zaxis.magnitude) * yawPlusMinus * Mathf.Rad2Deg;
+
+            var pitchPlusMinus = Vector3.Dot(yaxis, m.GetColumn(1)) < 0 ? 1.0f : -1.0f;
+            var pitch = (float)Math.Atan2(yaxis.magnitude, (xaxis + zaxis).magnitude) * pitchPlusMinus * Mathf.Rad2Deg;
+
+            return (yaw, pitch);
+        }
+
         public static void CalcYawPitch(this Matrix4x4 m, Vector3 target, out float yaw, out float pitch)
         {
             var zaxis = Vector3.Project(target, m.GetColumn(2));