All forces that are include applied forces and joint reaction forces written with respect to user defined reference frame. If a selected body is base body of joint or forces, torque arm is considered to acting torque.
Figure 1 Force Definition
Action Body
The magnitude of force is acting on the action body at the action marker position with respect to reference marker.
Base Body
The magnitude of force is acting on the action body at the action marker position with respect to reference marker. Reaction torque considers torque arm effect.
Different Types
1. Translational, Rotational, Screw force types.
These forces use a floating marker as base marker and reaction forces acting on the base body are applied at the action marker position.
Figure 2 Use Floating marker
2. PTCV and CVCV
These joint interact with each other at the constrained position. So PTCV and CVCV constraint does not generate torque.
Figure 3 PTCV and CVCV