warp.quat\_rotate
=================

.. currentmodule:: warp._src.lang

.. function:: quat_rotate(quat: Quaternion[Float], vec: Vector[Float, Literal[3]]) -> Vector[Float, Literal[3]]

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

   Return ``vec`` rotated by the rotation that ``quat`` represents.
   
   Quaternion products apply rotations from right to left, so ``quat_rotate(a * b, vec)`` equals
   ``quat_rotate(a, quat_rotate(b, vec))``.
   
   :param quat: Rotation quaternion, with unit length. Gradient updates do not preserve its unit
                length, so re-normalize it after each update.
   :param vec: Vector to rotate.
   
   :returns: The rotated vector, equal to ``quat_to_matrix(quat) @ vec``.