newton.math.velocity_at_point

newton.math.velocity_at_point(qd, r)

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

In Newton, spatial twist vectors are stored as \(q_d = (v, \omega)\), where \(v\) is linear velocity and \(\omega\) is angular velocity. Warp’s wp.velocity_at_point() uses \((\omega, v)\) ordering, so this wrapper converts the layout before calling Warp.

The kinematic relation is:

\[v_p = v + \omega \times r\]

where \(r\) is the point position relative to the twist origin.

Parameters:

• qd (spatial_vectorf) – Spatial twist in Newton layout (linear, angular).

• r (vec3f) – Point offset from the frame origin [m].

Returns:

Linear velocity of the offset point [m/s].

Return type:

wp.vec3