Link::GetAccel considering inertial forces.

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Hi,

I'd like to know if Link::GetWorldLinearAccel() takes in account the inertial force as Link::GetWorldAngularAccel() does? It seems to me that it's missing the inertial force in Link::GetWorldLinearAccel(), as described here, in eq 4.16. It means: return m^-1 * (F - w x m*v) = F/m - w x v.

If the above is right, my second question: How does the physical engine knows the acceleration for integration in the update step? The Link::GetWorldLinear/AngularAccel() should be the ones used in integral for providing the WorldLinear/AngularVel, right?