[ODE] Joints and Friction

[Daniel Huser]

Let's assume I attach a body to a ball-joint that is attached to a static point.
When i excert some force to the body to make it move, it just keeps swinging around pretty much forever.
The only way I've found so far, to actually make it come to a halt again, is to actually attach a angularMotor with velocity 0. Is that the way to go?
Isn't there a way to actually add something like Fricition to a joint, so we'd lose energy over time, like in reality?

-Daniel 
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