title: How to get a Vector3 rotation between two Quaternions
body: <p>I'm writing a script which rotates a <code>Rigidbody</code> using a <code>Configurable Joint</code>. I've got the <code>targetRotation</code> figured out, but now I'm struggling with <code>targetAngularVelocity</code>, which should help me avoid wobbliness if set correctly. </p>
  
  <p><code>targetAngularVelocity</code> is defined like this in the <a href="https://docs.unity3d.com/ScriptReference/ConfigurableJoint.html" rel="nofollow noreferrer">documantation</a>: "This is a <code>Vector3</code>. It defines the desired angular velocity that the joint should rotate into". The problem is that I don't know how to get this <code>Vector3</code> based on two <code>Quaternions</code> - current rotation of the object and the target rotation.</p>
  
  <p>Am I not understanding it correctly? Is there a function that returns a rotation vector based on two <code>Quaternions</code>?</p>