[ODE] Friction bug, maybe?

[J. Perkins]

I have a wheel, sitting on the ground (using my own sphere/plane test).
My contact looks this:

   contact.surface.mode = dContactBounce;
   contact.surface.mu = 0;
   contact.surface.bounce = 0.5;
   contact.surface.bounce_vel = 0.1;

I apply a torque to the wheel. If the contact friction is set to zero
as it is above, the wheel will not turn, no matter how much torque is
applied. If I set the friction to some low number (surface.mu=0.0001)
the wheel will turn as expected.

I assumed that mu=0 was a frictionless contact, and the wheel would
turn in place. Is this correct?

Jason
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