public Vector3 GetPointVelocity (Vector3 worldPoint);


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>(); }

// Get the velocity of a wheel, specified by its // position in local space. Vector3 CalcWheelVelocity(Vector3 localWheelPos) { return rb.GetPointVelocity(transform.TransformPoint(localWheelPos)); } }