setAxes possible error?

[Dan Royer (Marginally Clever Robots)]

Hello again,

As I understand it every joint stores the axes of the joint relative to the attached bodies.

My concern is when a joint is attached to the world and a body.  At the moment of a collision the body can move a small arbitrary rotation which alters the axis leading to error.

Wouldn't it be better in a one-body case to store the axis1 relative to the world, and axis2 relative to the body?  Am I reading that wrong?

Thanks,