---
title: "swingTwist(twistAxis:)"
framework: spatial
role: symbol
role_heading: Instance Method
path: "spatial/rotation3d/swingtwist(twistaxis:)"
---

# swingTwist(twistAxis:)

Returns the rotation’s swing-twist decomposition for a given twist axis.

## Declaration

```swift
func swingTwist(twistAxis: RotationAxis3D) -> (swing: Rotation3D, twist: Rotation3D)
```

## Parameters

- `twistAxis`: The twist axis.

## Return Value

Return Value A tuple that contains the swing rotation and the twist rotation.

## See Also

### Decomposing a 3D rotation structure

- [swing(twistAxis:)](spatial/rotation3d/swing(twistaxis:).md)
- [twist(twistAxis:)](spatial/rotation3d/twist(twistaxis:).md)
- [swing(twistAxis:)](spatial/rotation3d/swing(twistaxis:).md)
- [twist(twistAxis:)](spatial/rotation3d/twist(twistaxis:).md)