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

.. currentmodule:: warp._src.lang

.. function:: quat_rotate_inv(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 inverse of the rotation that ``quat`` represents.
   
   For example, if ``quat`` rotates vectors from a body's local frame into world space, this maps a
   world-space vector into the body's local frame.
   
   :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_rotate(quat_inverse(quat), vec)``.