I should also add that the slowdown code used on the sphere to stop it rolling forever isn't needed on the box which stops due to conventional friction. Indeed applying the Torque causes all sorts of strange bouncing! Really there's two different behaviours that need to be taken into account for boxes and spheres. Sphere's need rotational dampening per update and a different function for friction than boxes. Cylinders should work the same as spheres at a guess, but I'm not using them and haven't looked into it yet.
JV-ODE Physics Thread 3
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