Regular API function

simGetShapeInertia / sim.getShapeInertia

Description	Retrieves the inertia information from a shape. See also sim.setShapeInertia, sim.getShapeMass and sim.computeMassAndInertia.
C/C++ synopsis	simInt simGetShapeInertia(simInt shapeHandle,simFloat* inertiaMatrix,simFloat* transformationMatrix)
C/C++ parameters	shapeHandle: handle of the shape object inertiaMatrix (output): the inertia matrix or tensor (9 values), expressed relative to transformationMatrix (which coincides with the center of mass). The matrix is diagonal, i.e. contains the principal moments of inertia. transformationMatrix (output): a transformation matrix (12 values) expressed relative to the shape's reference frame. The matrix indicates the center of mass of the shape, and is the frame relative to which inertiaMatrix is expressed.
C/C++ return value	-1 in case of an error
Lua synopsis	float[9] inertiaMatrix,float[12] transformationMatrix=sim.getShapeInertia(int shapeHandle)
Lua parameters	Similar to the C-function counterpart
Lua return values	Similar to the C-function counterpart
Python synopsis	list inertiaMatrix,list transformationMatrix=sim.getShapeInertia(int shapeHandle)