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warp.quat_twist_angle_signed#

warp.quat_twist_angle_signed(axis: vec3f, q: quatf) → float#

  • Kernel

  • Differentiable

Return the signed twist angle of q around axis.

Unlike quat_twist_angle(), this preserves the sign of the twist, so rotations by +theta and -theta around axis return opposite values.

The result follows the quaternion branch supplied by q. Since q and -q represent the same orientation but different quaternion branches, they may produce signed angles that differ by 2*pi.

Parameters:

  • axis – Twist axis. Expected to be normalized by the caller.

  • q – Input quaternion in (x, y, z, w) layout.

Returns:

Signed twist angle in radians in [-2*pi, 2*pi].

Return type:

float