I want to find out the linear velocity of a point in 3D space, (Euclidean), given:
- Its position
- Its angular velocity
- The point it's rotating around (fulcrum)
(This is a problem I need to solve for 3D graphics programming with a physics engine).
The position of the point and position of the pivot point will be 3-value vectors, $x$, $y$ and $z$.
The angular velocity will also be a 3-value vector, representing Euler angles.
What operation(s) would I need to perform to calculate the linear velocity of the point?
The 3d/physics engine has various high level mathematical operations including matrix, vector and quaternion operations, so hopefully what I need is among those.