warp.quat_inverse

warp.quat_inverse(quat: Quaternion[Float]) → Quaternion[Float]

• Kernel: true
• Python: true
• Differentiable: true

Return the conjugate of quat, which is its inverse when quat has unit length.

For a nonzero quaternion without unit length, the multiplicative inverse is quat_inverse(quat) / length_sq(quat).

Parameters:

quat – Quaternion to conjugate.

Returns:

The quaternion (-quat[0], -quat[1], -quat[2], quat[3]).