LSL Wiki : llGetOmega

vector llGetOmega()

Returns the current rotational velocity (in radians/second) of task, relative to the simulator axes.

The rotation equivalent to llGetVel. The rotational velocity can be changed using llApplyRotationalImpulse, llSetTorque, or llSetForceAndTorque.

To find the velocity relative to the direction the object is rotating, try this:

vector global_omega = llGetOmega();
vector local_velocity = global_omega / llGetRot();

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functions | dynamics