Regular API function

simSetObjectQuaternion / sim.setObjectQuaternion

Description Sets the quaternion of an object. Dynamically simulated objects, together with their hierarchy tree, will be dynamically reset (this however does not apply to static shapes). See also sim.getObjectQuaternion and the section about positions, orientations and transformations
C/C++
synopsis
simInt simSetObjectQuaternion(simInt objectHandle,simInt relativeToObjectHandle,const simFloat* quaternion)
C/C++
parameters
objectHandle: handle of the object. Combine with sim.handleflag_wxyzquat to provide the quaternion as (w,x,y,z) order instead of (x,y,z,w) order. Can also be combined with sim.handleflag_reljointbaseframe (see next argument)
relativeToObjectHandle: indicates relative to which reference frame the orientation is specified. Specify sim.handle_world to set the absolute orientation, sim.handle_parent to set the orientation relative to the object's parent, or an object handle relative to whose reference frame the orientation is specified. If this handle is the handle of a joint, then the quaternion is applied relative to the joint's moving frame (unless objectHandle is combined with sim.handleflag_reljointbaseframe, in which case the quaternion is applied relative to the joint's base frame).
quaternion: the quaternion
C/C++
return value
-1 if operation was not successful
Lua
synopsis
sim.setObjectQuaternion(int objectHandle,int relativeToObjectHandle,float[4] quaternion)
Lua
parameters
Similar to the C-function counterpart
Lua
return values
Python
synopsis
sim.setObjectQuaternion(int objectHandle,int relativeToObjectHandle,list quaternion)