Regular API function

simGetObjectMatrix

Description Retrieves the transformation matrix of an object. See also simSetObjectMatrix, simGetObjectPosition, simGetObjectOrientation and the other matrix/transformation functions.
C synopsis simInt simGetObjectMatrix(simInt objectHandle,simInt relativeToObjectHandle,simFloat* matrix)
C parameters
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[0],matrix[4],matrix[8])
The y-axis of the orientation component is (matrix[1],matrix[5],matrix[9])
The z-axis of the orientation component is (matrix[2],matrix[6],matrix[10])
The translation component is (matrix[3],matrix[7],matrix[11])
C return value
-1 if operation was not successful. In a future release, a more differentiated return value might be available
Lua synopsis table_12 matrix=simGetObjectMatrix(number objectHandle,number relativeToObjectHandle)
Lua parameters
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.
Lua return values
matrix: table of 12 numbers (the last row of the 4x4 matrix (0,0,0,1) is not returned), or nil in case of an error. Table values in Lua are indexed from 1, not 0!

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