objectHandle: handle of a
scene object. It is highly recommended to add
sim.handleflag_axis to the object handle, in order to obtain the
regular angular velocity for the object, i.e. the rotation axis and the rotation velocity that is represented by the axis' length. If
sim.handleflag_axis is omitted, then a derivative of Euler angles expressed relative to previous' simulation frame will be returned for the angular velocity.
linearVelocity: pointer to 3 values that will receive the linear velocity. Can be nullptr
angularVelocity: pointer to 3 values that will receive the angular velocity. Can be nullptr