[ODE] Question about joint feedback

[Francisco Jesús Martínez Serrano]

El Lunes, 30 jun, 2003, a las 22:06 Europe/Madrid, Roel van Dijk 
escribió:

> Actualy this is a question about constraint forces in general.
> Are the force and torque vector that are stored in dJointFeedback 
> relative to
> the world frame of reference or to the connected bodies?

world frame

>  And if they are
> relative to the world frame of reference how do I rotate them to be 
> relative
> to the bodies frame of reference. Maybe I can mulitply them by the 
> bodies
> rotation matrix?

Yes, that's indeed what you have to do.