It's been 10 months now and 6.1 is here and gone, so it's time to reopen this thread.

1) Off-center phent_getvel() does seem to be working now. When I use the approach above (sample at center and offset; subtract and rescale), I do get what seems to be a constant angular velocity....but...

2) This velocity seems to be what I can best describe as globally referenced (?). Hence, I may see ang_velocity_x at 35 q/s and zero ang_velocity_y and later my ang_velocity_y is at 35 and _x is at 0, which is consitent with a tangential angular velocity vector attached at a fixed radius and rotating relative to a global fixed coordinate system.

Short of calculating the speed and then artificially inserting a direction, is there anyway that I can get angular velocity relative to a euler angle or relative to a local coordinate? I would really like to make one call and get a singular constant value; so if I'm rotating perfectly around the z-axis, similar to the ubiquious figure skater doing turns, I could get a constant value for their rotational speed and not a constantly changing one.

I know the mathematical way get a constant value; just want to know if there is an easy call or couple of calls I can make and avoid some of the nasty maths that will crop up in dealing with cross products. Or perhaps I'm missing the point altogether; either way, I'd like to hear what others and Conitec has to say.