世界坐标-本地坐标变换

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

public class ParentChild : MonoBehaviour
{

    public GameObject p;
    public GameObject c;

    // Start is called before the first frame update
    void Start()
    {
        // child to world
        Quaternion childWorldRotation = p.transform.rotation * c.transform.localRotation;
        Vector3 childWorldPosition =  p.transform.position + p.transform.rotation * c.transform.localPosition; // [R|T]P = RP + T

        Debug.Log("=========== Local to World ==============");
        Debug.Log("Child world rotation: " + c.transform.rotation);
        Debug.Log("Child world calc rotation:" + childWorldRotation);
        Debug.Log("Child world position: " + c.transform.position);
        Debug.Log("Child world calc position:" + childWorldPosition);



        // world to local
        Quaternion childLocalRotation = Quaternion.Inverse(p.transform.rotation) * c.transform.rotation;
        Vector3 childLocalPosition = Quaternion.Inverse(p.transform.rotation) * (c.transform.position -  p.transform.position); // Inverse(R) * DeltaT

        Debug.Log("=========== World to Local ==============");
        Debug.Log("Child local rotation: " + c.transform.localRotation);
        Debug.Log("Child local calc rotation:" + childLocalRotation);
        Debug.Log("Child local position: " + c.transform.localPosition);
        Debug.Log("Child local calc position:" + childLocalPosition);
    }

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