四元数的差

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

public class Diff : MonoBehaviour
{
    // Start is called before the first frame update
    void Start()
    {
        Quaternion rot1 = Quaternion.AngleAxis(60, Vector3.up);
        Quaternion rot2 = Quaternion.AngleAxis(30, Vector3.up);

        // 四元数的差的计算
        Quaternion diff = Quaternion.Inverse(rot1) * rot2;

        Debug.Log(rot1);
        Debug.Log(rot2);
        Debug.Log(diff);

        // 轴角表示
        float angle = 0f;
        Vector3 axis;

        rot1.ToAngleAxis(out angle, out axis);
        Debug.Log("rot1:");
        Debug.Log(angle);
        Debug.Log(axis);

        rot2.ToAngleAxis(out angle, out axis);
        Debug.Log("rot2:");
        Debug.Log(angle);
        Debug.Log(axis);

        diff.ToAngleAxis(out angle, out axis);
        Debug.Log("diff:");
        Debug.Log(angle);
        Debug.Log(axis);
    }

    // Update is called once per frame
    void Update()
    {
        
    }
}

原理：d=a−1b

rot1绕Y轴旋转60度，rot2绕Y轴旋转30度，差是绕负Y轴旋转30度，也可以理解为绕Y轴旋转负30度。