warp.quat\_to\_axis\_angle
==========================

.. currentmodule:: warp._src.lang

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

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

   Return the rotation axis and angle in radians represented by ``quat``.
   
   :param quat: Rotation quaternion to convert.
   
   :returns: A tuple ``(axis, angle)`` such that ``quat_from_axis_angle(axis, angle)`` equals
             ``normalize(quat)`` or ``-normalize(quat)``. ``angle`` is in radians, in ``[0, pi]``. ``axis``
             is unspecified when ``angle`` is zero, and its sign is unspecified when ``angle`` is ``pi``.
   

.. function:: quat_to_axis_angle(quat: Quaternion[Float], axis: Vector[Float, Literal[3]], angle: Float) -> None
   :noindex:

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

   Compute the rotation axis and angle in radians represented by ``quat`` and store them in
   caller-provided output arguments.
   
   :param quat: Rotation quaternion to convert.
   :param axis: Output rotation axis. It is unspecified when ``angle`` is zero, and its sign is
                unspecified when ``angle`` is ``pi``.
   :param angle: Output rotation angle in radians, in ``[0, pi]``.