Decompose relative quaternion

From: dirk@xxxxxxxxxxxxxxxx
Date: 30 Oct 2005 09:33:53 -0800

Given two quaternions q1 and q2. Now I calculate the relative
quaternion q_rel like this:

q_rel = q1' * q2

Given two axis v1 and v2 in world coordinates, not nescessarily
perpendicular- how can I find the relative rotation around the two axis
by the relative quaternion?

Example:
Given two rigid bodies b1 and b2. At frame t I compute the relative
quaternion as shown above. The two axis belong two a universal joint.
How can I find the relative rotation around the two axis?

Basically I like to "project" the quaternion onto the two axis?

Regards,

-Dirk

.

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