is it able to get VR hands’ velocity, directoin? and then based on these value to convert them to a

Yes, I'm using Unity so I can't give you a C++ script but you have to check the hand's position in a function witch execute everytime physics are calculated, then based on your timestep for physics calculation (usually 0.02s) you have the velocity and the direction of your hand. Finally add this to your hand object for apply physics