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Description
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Retrieves the inertia information from a shape. See also sim.setShapeInertia, sim.getShapeMass and sim.computeMassAndInertia. |
C/C++
synopsis
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int simGetShapeInertia(int shapeHandle,double* inertiaMatrix,double* com) |
C/C++
parameters |
inertiaMatrix (output): the inertia matrix (9 values), expressed relative to the shape's reference frame orientation. The matrix is symmetric
com (output): a transformation matrix (12 values) indicating the center of mass, expressed relative to the shape's reference frame. The matrix does not contain any rotational part (only the positional values are relevant).
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C/C++
return value
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-1 in case of an error
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Lua
synopsis
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float[9] inertiaMatrix,float[12] com=sim.getShapeInertia(int shapeHandle) |
Lua
parameters |
Similar to the C-function counterpart
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Lua
return values
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Similar to the C-function counterpart |
Python
synopsis |
list inertiaMatrix,list com=sim.getShapeInertia(int shapeHandle) |
