unity中Quaternion和旋转

近期有用到四元数，学习了一下，对unity中用到的几种封装方法研究了一二，这里记录一下，底层的数学原理说实话还是有点懵逼的，这个等以后学习了3D数学之后，对矩阵和三维旋转有了一定的认识之后再来补充原理吧；

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

public class QuaternionStudy : MonoBehaviour {

    private Quaternion _quater;
    private float jishiAngle;
    public Transform target;
    private Quaternion _rotation;
    Quaternion a, b;
    // Use this for initialization
    void Start () 
    {
         b = Quaternion.Euler(60, 60, 80);
    }

    // Update is called once per frame
    void Update () 
    {
        if (Input.GetKeyDown(KeyCode.Q))
        {
            transform.eulerAngles = new Vector3(30,30,30); //给其欧拉角赋值
            print(transform.eulerAngles);
        }
        if (Input.GetKeyDown(KeyCode.W))
        {
            Quaternion a1 = Quaternion.identity;
            a1.eulerAngles = new Vector3(30,30,0);
            Quaternion a2 = Quaternion.identity;
            float angle= Quaternion.Angle(a1,a2);//返回两个四元素之间的角度
            print(angle);
        }
        if (Input.GetKeyDown(KeyCode.E))
        {
            transform.rotation = Quaternion.identity;//无旋转，只读
        }
        if (Input.GetKeyDown(KeyCode.R))
        {
           // transform.rotation = Quaternion.AngleAxis(30,transform.up);
            transform.rotation = Quaternion.AngleAxis(30, Vector3.up); //将对象的rotation从quaternion.identity变到当前状态，
            print(transform.rotation);                           //只需要其围绕axis轴（世界坐标系）旋转angle即可,自身坐标系不可
        }
        if (Input.GetKeyDown(KeyCode.A))
        {
            Quaternion a1 = Quaternion.identity;
            a1.eulerAngles = new Vector3(30, 30, 0);
            Quaternion a2 = Quaternion.identity;
            float angle = Quaternion.Dot(a1,a2);//计算两个rotation之间的点乘，看不出来怎么用，知道的朋友指导下；
            print(angle);
        }
        if (Input.GetKeyDown(KeyCode.S))
        {
          // transform.rotation= Quaternion.Euler(30,30,40); //将对象的角度变成(30,30,40)
           transform.rotation = Quaternion.Euler(new Vector3(30,30,40));
           print(transform.rotation);
        }

        if (Input.GetKeyDown(KeyCode.F))
        {
          print(transform.rotation);
          print(Quaternion.Inverse(transform.rotation));
          transform.rotation = Quaternion.Inverse(transform.rotation); //返回相反的rotation，比如(0.1,0.2,0,1)相反就是(-0.1,-0.2,0,1)
        }

       // jishiAngle += Time.deltaTime*3;
      //  transform.eulerAngles = new Vector3(0,jishiAngle,0);//相当于旋转
        //Vector3 relativePos = target.position - transform.position;
       // Quaternion _rotation = Quaternion.LookRotation(relativePos);
       // _rotation.SetLookRotation(relativePos); //与lookrotation函数效果一样，不同的是lookrotation由quaternion直接点出来，而setlookrotation则是变量_rotation点出来
        //transform.rotation = _rotation; //旋转注视

      //  float step = Time.deltaTime * 3;
       // transform.rotation = Quaternion.RotateTowards(transform.rotation,target.rotation,step); //慢慢旋转至和目标rotation一致

        //Vector3 fromDirection = transform.eulerAngles;
        //Vector3 toDirection = target.eulerAngles;
        //transform.rotation = Quaternion.FromToRotation(transform.forward, Vector3.forward);

          // transform.rotation = Quaternion.Slerp(transform.rotation, b, Time.deltaTime*0.3f); //相当于旋转的功能； 插值，由快至慢渐变

       // transform.rotation = Quaternion.Inverse(target.rotation); //返回于目标旋转相反的旋转值
    }
}