[ODE] Coordinate frames of body velocity values

[Yefei He]

Hi folks, 

    What coordinate frames are the linear and angular velocity values in, 
as in the functions dBodySetLinearVel(), dBodySetAngularVel()? Global or 
body coordinate frame? I see for adding force and torque there are functions

for both absolute and relative coordinates. 

    Thanks, 

    Yefei