warp.quat\_inverse
==================

.. currentmodule:: warp._src.lang

.. function:: quat_inverse(quat: Quaternion[Float]) -> Quaternion[Float]

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

   Return the conjugate of ``quat``, which is its inverse when ``quat`` has unit length.
   
   For a nonzero quaternion without unit length, the multiplicative inverse is
   ``quat_inverse(quat) / length_sq(quat)``.
   
   :param quat: Quaternion to conjugate.
   
   :returns: The quaternion ``(-quat[0], -quat[1], -quat[2], quat[3])``.