Contact force reference frame

[ayush-agrawal]

When adding contact through the addContact() method, what frame is the contact wrench represented in? Is it in the the inertial frame or the body frame of the contact.

From my understanding, from line 59 of add contact, the linear forces are in represented in the inertial frame where as the moments are represented in the body frame as in line 60. Please let me know if this is correct!

Thank you!