Unity 3D——四元数的应用

   四元数用于旋转，确实很不好理解，但是，有一点好处是不会发生万向锁。 主要用法就是：
   首先，获取你当前的Rotation的四元数和目标Rotation的四元数，相乘即可。
来自前辈的示范：

using UnityEngine;
using System.Collections;

// 暴走武林里主界面的球体的旋转效果
public class SphereRotate : MonoBehaviour
{
    public Camera m_camera = null;

    private bool m_mouseDown = false;
    private Vector3 m_previosMousePosition = Vector3.zero;

    public float m_speed = 0.05f;
    private Quaternion m_targetRot = Quaternion.identity;

    void Start()
    {
    }

    void Update()
    {
        if (Input.GetMouseButtonDown(0))
        {
            Debug.Log("mouse down");
            m_mouseDown = true;

            m_previosMousePosition = Input.mousePosition;
        }
        else if (Input.GetMouseButtonUp(0))
        {
            if (m_mouseDown)
            {
                Debug.Log("mouse up");
                m_mouseDown = false;
                m_speed = 0.002f;
            }
        }

        if (m_mouseDown)
        {
            Vector3 _dir = Input.mousePosition - m_previosMousePosition;
            if (_dir.sqrMagnitude > 0.1f)
            {
                Vector3 _dir0 = new Vector3(0, 0, -1);
                Vector3 _dir1 = _dir0 + _dir * m_speed;
                // 四元数旋转
                Quaternion _qt = Quaternion.FromToRotation(_dir0, _dir1);
                Quaternion _result = _qt * transform.rotation;
                transform.rotation = _result;
                // 边界限制
                float _angle = Quaternion.Angle(Quaternion.identity, _result);
                Debug.Log(_angle);
                if (_angle > 10)
                {
                    float _lerp = 10 / _angle;
                    m_speed *= _lerp;
                    m_targetRot = Quaternion.Lerp(Quaternion.identity, _result, _lerp);
                }
                else
                {
                    m_targetRot = _result;
                }

                m_previosMousePosition = Input.mousePosition;
            }
        }
        else
        {
            transform.rotation = Quaternion.Lerp(transform.rotation, m_targetRot, 0.2f);
        }
    }
}