objectHandle: handle of the object
relativeToObjectHandle: indicates relative to which reference frame we want the matrix. Specify -1 to retrieve the absolute transformation matrix, sim_handle_parent to retrieve the transformation matrix relative to the object's parent, or an object handle relative to whose reference frame we want the transformation matrix.
matrix: pointer to 12 simFloat values (the last row of the 4x4 matrix (0,0,0,1) is not needed)
The x-axis of the orientation component is (matrix,matrix,matrix)
The y-axis of the orientation component is (matrix,matrix,matrix)
The z-axis of the orientation component is (matrix,matrix,matrix)
The translation component is (matrix,matrix,matrix)