warp.quat\_from\_matrix
=======================

.. currentmodule:: warp._src.lang

.. function:: quat_from_matrix(mat: Matrix[Float, Literal[3], Literal[3]]) -> Quaternion[Float]

   .. wp-function-tags::
      :kernel: true
      :python: true
      :differentiable: true

   Construct a quaternion from a matrix.
   
   If the matrix is not a pure rotation, but for example includes scaling or skewing, the result is undefined.

.. function:: quat_from_matrix(mat: Matrix[Float, Literal[4], Literal[4]]) -> Quaternion[Float]
   :noindex:

   .. wp-function-tags::
      :kernel: true
      :python: true
      :differentiable: true

   Construct a quaternion from a matrix.
   
   If the top-left 3x3 block of the matrix is not a pure rotation, but for example includes scaling or skewing, the result is undefined.