[ODE] Friction on Rolling Bodies

[Ivan Sarmiento Ocharan]

Hi,

I'm working on a simulation software, and I hace got troubles whit bodies
that simply roll over the ground. They just never stop rolling. I have set
the contact point whith several values for surface.mu, and it just change
the velocity of them over the ground before the impulse to a steady one,
that was given to the body whit the dBodySetForce function in a single
time step.

My question is, How can I desacelerate the rolling bodies just whit the
collision function?