warp.transform\_set\_rotation
=============================

.. currentmodule:: warp._src.lang

.. function:: transform_set_rotation(xform: Transformation[Float], q: Quaternion[Float]) -> None

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

   Set the rotational part of the transform ``xform`` in place, leaving its translation unchanged.
   
   ``q`` is not normalized. In a kernel, ``xform.q = q`` is equivalent. See
   :func:`~warp.transform_set_translation` for the array-element caveat.
   
   :param xform: Transformation to modify in place.
   :param q: New rotation, expected to be a unit quaternion in ``(x, y, z, w)`` order.
   
   See :func:`~warp.transform_set_translation` for a usage example.