Yes it is called Crossing Knightmare and is the second game being put out by Ki-Software. Their first game to this day is my absolute favorite H-Game of all time, Kuroyokami (Dark God). HGH/Dangerous Thoughts have both said that the progress is slow and that they don't have a planned release date yet. There is however a Demo available if you purchase the SP01 Crossing Knightmare from DLSite.