How to add friction to Unity HingeJoint?

Question

I attach a rigidbody to a HingeJoint in Unity.

It's attached no at the the center of an anchor of a joint.

To stop it from falling I set Use Motor = true, Target Velocity = 0 and apply some force to the motor.

However, this does not help, see video:

http://g.recordit.co/JJ0cmfT1Mb.gif

Here is the sample project: https://drive.google.com/open?id=0B8QGeF3SuAgTNnozX05wTVJGZHc

Screen from sample project to reproduce the issue (there is no code): alt text

How can I apply a friction to a joint to stop rigidbody from moving?

Note: setting spring with damper or applying a limit is not an option for me, because I need to rotate the rigidbody correctly when I apply enough torque (force) to a motor.
If I switch damper/limit on and off, the rigidbody will move faster when it is rotated in a direction of falling and slower when it is rotated in opposite direction.

Answer 1

I found a similar question here and a seemingly correct way to achieve it: https://stackoverflow.com/questions/44497538/how-to-add-friction-to-unity-hingejoint

 using UnityEngine;
 
 public class JointFriction : MonoBehaviour
 {
     [Tooltip("mulitiplier for the angular velocity for the torque to apply.")]
     public float Friction = 0.4f;
 
     private HingeJoint _hinge;
     private Rigidbody _thisBody;
     private Rigidbody _connectedBody;
     private Vector3 _axis;  //local space
 
     // Use this for initialization
     void Start()
     {
         _hinge = GetComponent<HingeJoint>();
         _connectedBody = _hinge.connectedBody;
         _axis = _hinge.axis;
 
         _thisBody = GetComponent<Rigidbody>();
     }
 
     // Update is called once per frame
     void FixedUpdate()
     {
         var angularV = _hinge.velocity;
         //Debug.Log("angularV " + angularV);
         var worldAxis = transform.TransformVector(_axis);
         var worldTorque = Friction * angularV * worldAxis;
 
         _thisBody.AddTorque(-worldTorque);
         _connectedBody.AddTorque(worldTorque);
     }
 }

How to add friction to Unity HingeJoint?

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