objectHandle: handle of the object. Can be combined with sim.handleflag_reljointbaseframe (see next argument)
relativeToObjectHandle: indicates relative to which reference frame the matrix is specified. Specify -1 to set the absolute transformation matrix, sim.handle_parent to set the transformation matrix relative to the object's parent, or an object handle relative to whose reference frame the transformation matrix is specified. If this handle is the handle of a joint, then the matrix is applied relative to the joint's moving frame (unless objectHandle is combined with sim.handleflag_reljointbaseframe, in which case the matrix is applied relative to the joint's base frame).
matrix: pointer to 12 simFloat values (the last row of the 4x4 matrix (0,0,0,1) is not needed)
The x-axis of the orientation component is (matrix,matrix,matrix)
The y-axis of the orientation component is (matrix,matrix,matrix)
The z-axis of the orientation component is (matrix,matrix,matrix)
The translation component is (matrix,matrix,matrix)