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Orientation offset

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Hello, I have a problem and I hope someone might help me solve it. I have two orientations expressed as two euler angles (but I can transform them in matrix or in quaternion). I want to get the orientation offset from the two orientations, so I can apply it to another matrix (orientation). Does anyoe know how can I get the orientation offset from the first two orientations ? Thanks

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You have 2 orientations in world space, say A and B. You want the delta orientation, i.e. rotation that, when applied to A, transforms A to B?

If you convert to matrices, then the transform from A to B is Inverse(A) * B since

A * Inverse(A) * B = I * B = B.

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