warp.quat\_twist
================

.. currentmodule:: warp._src.lang

.. function:: quat_twist(axis: vec3f, q: quatf) -> quatf

   .. wp-function-tags::
      :kernel: true
      :python: true
      :differentiable: true
      :source: https://github.com/NVIDIA/warp/blob/release-1.19/warp/_src/math.py#L151-L169

   Return the twist component of ``q`` about ``axis``.
   
   A swing-twist decomposition splits a rotation into a twist about ``axis`` and a swing about an
   axis perpendicular to ``axis``.
   
   :param axis: Twist axis, with unit length.
   :param q: Rotation quaternion.
   
   :returns: Unit twist quaternion. It is unspecified when ``q`` is a rotation of 180 degrees
             about an axis perpendicular to ``axis``.
   :rtype: warp.quat