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How to calculate local velocity if you know it's world velocity and local rotation?

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I'm trying to simulate slip/tracking friction forces for my vehicle in UE4. 

 

  • I have the component velocity in World Space
  • I have its local rotation

I used the following code to get the local directions for the my vehicle in World Space:

	// Getting direction realtive to the cuboid; Used in steering and friction calculations. 
	FRotator Rotation = VMesh->GetComponentRotation();
	FRotator Yawrotation(0.f, Rotation.Yaw, 0.f);
	ForwardDir = FRotationMatrix(Yawrotation).GetUnitAxis(EAxis::X);
	RightDir = FRotationMatrix(Yawrotation).GetUnitAxis(EAxis::Y);
	UpDir = FRotationMatrix(Yawrotation).GetUnitAxis(EAxis::Z);

I can't figure out how to get it's Local velocity. Can I use the above syntax to solve problem somehow?

 

 

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