[ODE] Kinetic friction

[Garvin Haslett]

A quick question, does ODE implement kinetic friction?  I am asking this 
because I created a capped cylinder, displaced the centre of mass and did a 
quick hack to the integrator to allow this to be taken into account.  In 
this scenario the cylinder rolled back and forth indefinitely.

Nonetheless a friend of mine reckons that the simulator does implement 
kinetec friction.  Can anyone clarify?

Garvin.