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

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public Vector3 GetRelativePointVelocity(Vector3 relativePoint);

Description

The velocity relative to the rigidbody at the point relativePoint.

GetRelativePointVelocity 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.GetRelativePointVelocity(localWheelPos); } }

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