Real-Time Physics Simulation Forum

So as far as I know, rigidBody->getLinearVelocity() returns the velocity at the center of mass. So what if I have a swinging lever-arm, and I want to calculate the velocity at point at the end of the lever arm? Is there a convenient way to do this?

I totally encapsulated Bullet, and coded such functions myself.
It is not convenient, but it works.

getVelocity_relativeToCM_worldAxis(Vector3 positionRelativeToCM);
getVelocity_relativeToCM_shapeAxis(Vector3 positionRelativeToCM);
getVelocity_absolutePosition_worldAxis(Vector3 worldPosition);

The velocity of any point on the rigid body can easily be computed like this:

btVector3 Lever= Point - Body->GetCenterOfMass();
btVector3 Velocity = Body->GetLinearVelocity() + btCross( Body->GetAngularVelocity, Lever);

I assume all points and velocities are in world space here.