I'm trying to calculate the slip angle of a tire and then feed it to the Pacejka Magic Formula to get the lateral force.

The slip angle formula goes like this:

Slip Angle = Atan(tire's lateral Velocity / tire's longitudinal velocity)

But in order to get the tire lateral and longitudinal velocities, I need the velocity at the tire's contact patch point.

So the question is how to calculate the tire's contact patch point velocity :D

Any answer would be appreciated <3

If you are asking how to get the linear velocity of a point on a rigid body relative to its center of mass, then this is easily calculated by the following code:

/// Return the linear velocity of this object at the specified point relative to its center of mass.
Vector3f VelocityState:: getVelocityAtPoint( const Vector3f& r ) const
{
	return velocity + math::cross( angularVelocity, r );
}

@Aressera
Thank you so much that is exactly what I want :D

@YousefMahmood And don't forget that the slip vector must be in tire space to get proper slip angle.

@bmarci Yeah, I'm aware of that thanks for reminding me :>