warp.quat\_twist
================

.. currentmodule:: warp._src.lang

.. function:: quat_twist(axis: vec3f, q: quatf) -> quatf

   .. wp-function-tags::
      :kernel: true
      :python: true
      :differentiable: true
      :source: https://github.com/NVIDIA/warp/blob/release-1.18/warp/_src/math.py#L151-L168

   Extract the twist quaternion of ``q`` around ``axis``.
   
   This performs a swing-twist decomposition and returns the component of
   rotation in ``q`` whose rotation axis is parallel to ``axis``.
   
   :param axis: Twist axis (expected to be normalized).
   :param q: Input quaternion in ``(x, y, z, w)`` layout.
   
   :returns: Unit twist quaternion.
   :rtype: warp.quat