: handle of the IK group. Only IK groups that are flagged as explicitely handled will be considered as valid handles for this function. See also simGetIkGroupHandle
jointCnt: the number of joint handles provided in the jointHandles array.
jointHandles (input): an array with jointCnt entries, that specifies the joint handles for the joints we wish to retrieve the values calculated by the IK.
jointValues (output): an array with jointCnt entries, that will receive the IK calculated joint values, as specified by the jointHandles array.
jointOptions: a bit-coded value corresponding to each specified joint handle. Can also be NULL. Bit 0 (i.e. (1) indicates the corresponding joint is dependent of another joint.