warp.spatial\_top
=================

.. currentmodule:: warp._src.lang

.. function:: spatial_top(svec: Vector[Float, Literal[6]]) -> Vector[Float, Literal[3]]

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

   Return the angular velocity or torque stored in ``svec``.
   
   See :func:`~warp.spatial_bottom` to access the linear velocity or force stored in components 3
   through 5.
   
   :param 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.
   
   .. rubric:: Example
   
   .. testcode::
   
       @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())
   
   .. testoutput::
   
       [[0. 0. 2.]]
       [[1. 0. 0.]]