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warp.velocity_at_point#

warp.velocity_at_point(
qd: spatial_vectorf,
r: vec3f,
) → vec3f#

  • Kernel

  • Differentiable

Evaluate the linear velocity of an offset point on a rigid body.

Given a spatial twist qd = (w, v) and a point offset r from the twist origin, this computes:

\[v_p = v + w \times r\]
Parameters:

  • qd – Spatial velocity (angular, linear) of the reference frame.

  • r – Point position relative to the same frame origin.

Returns:

Linear velocity of the point.

Return type:

wp.vec3