warp.transform\_compose
=======================

.. function:: warp._src.lang.transform_compose(position: Vector[float32,Literal[3]], rotation: Quaternion[float32], scale: Vector[float32,Literal[3]]) -> None

   .. hlist::
      :columns: 8

      * Kernel
      * Differentiable

   Compose a 4x4 transformation matrix from a 3D position, quaternion orientation, and 3D scale.
   
   .. math::
       M = \begin{bmatrix}
       s_x R_{00} & s_y R_{01} & s_z R_{02} & p_x \\
       s_x R_{10} & s_y R_{11} & s_z R_{12} & p_y \\
       s_x R_{20} & s_y R_{21} & s_z R_{22} & p_z \\
       0 & 0 & 0 & 1
       \end{bmatrix}
   
   Where:
   
   * :math:`R` is the 3x3 rotation matrix created from the input quaternion orientation.
   * :math:`p` is the input 3D position vector :math:`[p_x, p_y, p_z]`.
   * :math:`s` is the input 3D scale vector :math:`[s_x, s_y, s_z]`.
   
   :param position: The 3D position vector.
   :type position: Vector[Float, 3]
   :param rotation: The quaternion orientation.
   :type rotation: Quaternion[Float]
   :param scale: The 3D scale vector.
   :type scale: Vector[Float, 3]
   
   :returns: The transformation matrix.
   :rtype: Matrix[Float, 4, 4]