relativeToObjectHandle: indicates relative to which reference frame we want the orientation. Specify -1 to retrieve the absolute orientation, sim_handle_parent to retrieve the orientation relative to the object's parent, or an object handle relative to whose reference frame you want the orientation.
quaternion: the quaternion (x,y,z,w)
C return value
-1 if operation was not successful. In a future release, a more differentiated return value might be available
