warp.quat\_from\_axis\_angle
============================

.. currentmodule:: warp._src.lang

.. function:: quat_from_axis_angle(axis: Vector[Float, Literal[3]], angle: Float) -> Quaternion[Float]

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

   Return the quaternion for a rotation of ``angle`` radians about ``axis``.
   
   Positive angles follow the right-hand rule: a rotation of ``pi / 2`` about the ``z`` axis maps
   the ``x`` axis onto the ``y`` axis.
   
   :param axis: Rotation axis, with unit length.
   :param angle: Rotation angle in radians.
   
   :returns: The quaternion ``(axis * sin(angle / 2), cos(angle / 2))`` in ``(x, y, z, w)`` order.