Adds optional rolling/spinning friction to contact joint with accompanying demo: demo_rfriction.
Rolling/spinning friction can be enabled by setting the dContactRolling bit in the surface.mode bitfield. The spinning friction is then set as surface.rho. If the bit dContactMu2 is set, then surface.rho is used around the axis the results in rolling parallel to FDir1, surface.rho2 is used for rolling perpendicular to FDir1, and surface.rhoN is used for spinning.
If the dContactApprox1 bits (dContactApprox1_1, dContactApprox1_2, and dContactApprox1_N) are set, then the axis uses limited force proportional to the normal force, just as with sliding friction.
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