[ODE] spinning object friction simulation

[Jon Watte]

> Now, a real smushy sphere, for example a rubber ball, has a non-zero
> area contact patch.  Thus, when you spin the ball like a top, there is
> friction that makes the ball eventually stop spinning.  Howerver, in
> ODE, my smushy sphere contacts the ground at exactly one point, i.e.
> zero contact area.  It spins forever.

You could add a dampening torque to any sphere or ccylinder that has at 
least one contact joint, each step.

Cheers,

			/ h+