warp.velocity\_at\_point
========================

.. currentmodule:: warp._src.lang

.. function:: velocity_at_point(qd: spatial_vectorf, r: vec3f) -> vec3f

   .. wp-function-tags::
      :kernel: true
      :python: true
      :differentiable: true
      :source: https://github.com/NVIDIA/warp/blob/release-1.18/warp/_src/math.py#L131-L148

   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:
   
   .. math::
      v_p = v + w \times r
   
   :param qd: Spatial velocity ``(angular, linear)`` of the reference frame.
   :param r: Point position relative to the same frame origin.
   
   :returns: Linear velocity of the point.
   :rtype: warp.vec3