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initial version

implemented in trunk, please see r36485. Now you can apply a wrench on body1 where the wrench is defined in body2 frame. If the 2 frames are moving relative to each other, only the initial relative pose are used.

implemented in trunk, please see r36485. Now you can apply a wrench on body1 where the wrench is defined in body2 frame. If the 2 frames are moving relative to each other, only the initial relative pose are used.