warp.quat\_to\_matrix
=====================

.. currentmodule:: warp._src.lang

.. function:: quat_to_matrix(quat: Quaternion[Float]) -> Matrix[Float, Literal[3], Literal[3]]

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

   Return the 3x3 rotation matrix of the rotation that ``quat`` represents.
   
   :param quat: Rotation quaternion, with unit length. Gradient updates do not preserve its unit
                length, so re-normalize it after each update.
   
   :returns: The rotation matrix ``m`` that rotates column vectors, such that ``m @ v`` equals
             ``quat_rotate(quat, v)``.