常用四元数Quaternion运算

经常做四元数变化就要想半天，太生疏，把常用的总结下来。

1.头方向不正,把头摆水平

Quaternion qForward = Quaternion.LookRotation(Vector3.up, -transform.forward) * Quaternion.AngleAxis(90f, Vector3.right);
transform.rotation = qForward;

2,一个点是某个对象的局部坐标,计算旋转后的位置,相对于我在哪里

using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using static CTool;

public class rotscene : MonoBehaviour
{
    public Vector3 at;
    public float rot;

    public bool click;
    public Transform t;
    // Start is called before the first frame update
    void Start()
    {
        
    }

    // Update is called once per frame
    void Update()
    {
        if (click)
        {
            click = false;
            t.SetParent(transform);
            Quaternion q = Quaternion.Euler(0f, rot, 0f);

            Quaternion q2 = transform.rotation * q ;
            Vector3 newat = transform.position + q2 * at;
            
            t.position = newat;

        }
    }
}