Changes to get spatial forces in ground frame instead of body frame. (Also some clean-up and use of more descriptive names)
Changes to get spatial forces in ground frame instead of body frame.
(Also some clean-up and use of more descriptive names)

opensim-org/opensim-core,opensim-org/opensim-core,opensim-org/opensim-core,opensim-org/opensim-core,opensim-org/opensim-core,opensim-org/opensim-core,opensim-org/opensim-core