warp.quaternion
===============

.. currentmodule:: warp._src.lang

.. function:: quaternion(dtype: Float = ...) -> Quaternion[Float]

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

   Construct a quaternion.
   
   Zero-initialize the quaternion. Quaternions are laid out as
   ``[ix, iy, iz, r]``, where ``ix``, ``iy``, ``iz`` are the imaginary part, and ``r`` the real part.

.. function:: quaternion(x: Float, y: Float, z: Float, w: Float, dtype: Float = ...) -> Quaternion[Float]
   :noindex:

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

   Construct a quaternion.
   
   Use the supplied components (type inferred from component type).

.. function:: quaternion(ijk: Vector[Float, Literal[3]], real: Float, dtype: Float = ...) -> Quaternion[Float]
   :noindex:

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

   Construct a quaternion.
   
   Use the supplied vector/scalar (type inferred from scalar type).

.. function:: quaternion(quat: Quaternion[Float], dtype: Float = ...) -> Quaternion[Float]
   :noindex:

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

   Construct a quaternion.
   
   Convert ``quat`` to the specified ``dtype``.