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 matrix. Specify 1 to retrieve the absolute transformation matrix, sim_handle_parent to retrieve the transformation matrix relative to the object's parent, or an object handle relative to whose reference frame we want the transformation matrix. If this handle is the handle of a joint, then the matrix relative to the joint's moving frame will be returned (unless objectHandle is combined with sim_handleflag_reljointbaseframe, in which case the matrix relative to the joint's base frame will be returned).
matrix: pointer to 12 simFloat values (the last row of the 4x4 matrix (0,0,0,1) is not needed)
The xaxis of the orientation component is (matrix[0],matrix[4],matrix[8])
The yaxis of the orientation component is (matrix[1],matrix[5],matrix[9])
The zaxis of the orientation component is (matrix[2],matrix[6],matrix[10])
The translation component is (matrix[3],matrix[7],matrix[11])
