Joint feedback

Mark Williams <[email protected]>
Newsgroups gmane.comp.lib.ode
Message-ID <[email protected]> 
Hi, another joints question, I'm afraid. Neither the manual or the Wiki 
(as far as I can tell) specify the space in which the joint feedback 
quantities are given.

Is it world space, or somehow relative to the attached bodies?

Thanks in advance,

Mark
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