Rigidbody.GetPointVelocity

설명

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));
    }
}