simGetObjectPosition

Retrieves the position of an object

C++ synopsis

int simGetObjectPosition(int objectHandle, int relativeToObjectHandle, double* position)

Arguments

• objectHandle: handle of the object. Can be combined with sim.handleflag_reljointbaseframe (see next argument)
• relativeToObjectHandle: indicates relative to which reference frame we want the position. Specify sim.handle_world to retrieve the absolute position, sim.handle_parent to retrieve the position relative to the object's parent, or an object handle relative to whose reference frame we want the position. If this handle is the handle of a joint, then the position relative to the joint's moving frame will be returned (unless objectHandle is combined with sim.handleflag_reljointbaseframe, in which case the position relative to the joint's base frame will be returned).
• position: pointer to 3 values [x y z]

Return

• -1 if operation was not successful