[ODE] Modelling Joint Friction

[Peter Kyme]

I need friction in my joints, so I've implemented the solution given in 
the docs:

"Motors can also be used to accurately model dry (or Coulomb) friction 
in joints. Simply set the desired velocity to zero and set the maximum 
force to some constant value - then all joint motion will be impeded by 
that force."

This solution works for an average case, but it does not seem to cope 
with high friction. For example, if I set the maximum force to dInfinity 
I would expect the joint to become completely rigid.

In actual fact the joint still moves. It appears that all high values of 
maximum force tend towards the same result. Is it not the case that with 
a maximum force of dInfinity and a desired velocity of zero the joint 
should never move?

Thanks.