shapeHandle: handle of a dynamically enabled shape. Can be combined with sim.handleflag_resetforce and/or sim.handleflag_resettorque in order to clear the accumulated force or torque.
force: pointer to 3 values that represent the force (in absolute coordinates) to add. Can be NULL.
torque: pointer to 3 values that represent the torque (in absolute coordinates) to add. Can be NULL
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