Regular API function


Description Retrieves mass and inertia information from a shape. See also simSetShapeMassAndInertia, simGetObjectMatrix, simBuildMatrix and simComputeMassAndInertia.
C synopsis simInt simGetShapeMassAndInertia(simInt shapeHandle,simFloat* mass,simFloat* inertiaMatrix,simFloat* centerOfMass,const simFloat* transformation)
C parameters
shapeHandle: handle of the shape object
mass: the mass of the object
inertia matrix (output): the inertia matrix or tensor (9 values), expressed relative to the center of mass. The returned matrix is relative to the orientational frame of transformation (see further below).
centerOfMass (output): the position of the center of mass, relative to the specified transformation (see next item).
transformation: the transformation matrix (12 values) relative to which we want the data. Can be NULL, in which case the returned data is relative to the absolute reference frame. See here to see how matrix transformations are specified in V-REP.
C return value
-1 in case of an error
Lua synopsis number mass,table_9 inertiaMatrix,table_3 centerOfMass=simGetShapeMassAndInertia(number shapeHandle,table_12 transformation=nil)
Lua parameters
See the C-function for details
Lua return values
See the C-function for details

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