Difference between the two quaternions

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I\'m making a 3D portal system in my engine (like Portal game). Each of the portals has its own orientation saved in a quaternion. To render the virtu

Answer 1

I solved my problem. As it turned out I don't need any difference between two rotations. Just multiply one rotation by rotation in 180 degrees, and then multiply by inverse of second rotation that way (using matrices):

Matrix m1 = p1->getOrientation().toMatrix();
Matrix m2 = p2->getOrientation().toMatrix();
Matrix model = m1 * Matrix::rotation(180, Vector3(0,1,0)) * Matrix::inverse(m2);

and translation calculating this way:

Vector3 position = -p2->getPosition();
position = model * position + p1->getPosition();
model = Matrix::translation(position) * model;