warp.spatial_top

warp.spatial_top(

svec: Vector[Float, Literal[6]],

) → Vector[Float, Literal[3]]

• Kernel: true
• Python: true
• Differentiable: true

Return the angular velocity or torque stored in svec.

See spatial_bottom() to access the linear velocity or force stored in components 3 through 5.

Parameters:

svec – Spatial vector to read from.

Returns:

The angular velocity or torque from components 0 through 2 of svec, as a 3D vector of the same scalar type.

Example

@wp.kernel
def split(
    twists: wp.array[wp.spatial_vector],
    angular: wp.array[wp.vec3],
    linear: wp.array[wp.vec3],
):
    i = wp.tid()
    angular[i] = wp.spatial_top(twists[i])
    linear[i] = wp.spatial_bottom(twists[i])

twists = wp.array([wp.spatial_vector(0.0, 0.0, 2.0, 1.0, 0.0, 0.0)], dtype=wp.spatial_vector)
angular = wp.empty(1, dtype=wp.vec3)
linear = wp.empty(1, dtype=wp.vec3)
wp.launch(split, dim=1, inputs=[twists], outputs=[angular, linear])
print(angular.numpy())
print(linear.numpy())

[[0. 0. 2.]]
[[1. 0. 0.]]