   Calculate relative rotation
  If i have two rotation quaternions, how do i get the relativerotation between them?I want to be able to do something like this:a=rotation1, b = rotation2 c = relative rotation a - b = c // Get the realative rotation b + c = a // Calculate a by applying c to b  
  c = Conj(a) * bwhere Conj(a) = (-x, -y, -z, w) or (x, y, z, -w)