[ODE] friction

[Paul de Wit]

Hello,
 I have 2 problems. I want to simulate a spring in ODE. I have a bar with on
one side a spring connected to a platform and on the other side a wheel. In
the middle is an axis of the type hinge. How can I simulate the spring, or
can I put this in the axis and if that is possible how shall I do that.
The other question is how can I put friction in an normal hinge.
 Thanks,
 Gaspar van Elmbt
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