simGetShapeInertia

Retrieves the inertia information from a shape

C++ synopsis

int simGetShapeInertia(int shapeHandle, double* inertiaMatrix, double* com)

Arguments

• shapeHandle: handle of the shape object
• inertiaMatrix (output): inertia matrix (9 values), expressed relative to the shape's reference frame orientation. The matrix is symmetric
• com (output): a transformation matrix [0 0 0 P0 0 0 0 P1 0 0 0 P2] 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).

Return

• -1 in case of an error