Legacy Documentation: Version 2017.2 (Go to current version)
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Rigidbody.GetPointVelocity

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public Vector3 GetPointVelocity(Vector3 worldPoint);

Description

The velocity of the rigidbody at the point worldPoint in global space.

GetPointVelocity will take the angularVelocity of the rigidbody into account when calculating the velocity.

using UnityEngine;
using System.Collections;

public class ExampleClass : MonoBehaviour { public Rigidbody rb; void Start() { rb = GetComponent<Rigidbody>(); } Vector3 CalcWheelVelocity(Vector3 localWheelPos) { return rb.GetPointVelocity(transform.TransformPoint(localWheelPos)); } }

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