I've implemented a weld and friction joint in SVN along with some examples.
I want to thank Jorrit Rouwe for the initial fixed joint http://box2d.org/forum/viewtopic.php?f=3&t=3340 and Mike Lewis for the initial top down friction joint http://www.box2d.org/forum/viewtopic.php?f=3&t=3902
The new b2WeldJoint and b2FrictionJoint don't use their code, but they were inspired by their efforts.
The weld joint should be used with care. Several weld joints in a chain do not create a rigid body. See the Cantilever example in the testbed to see what I mean. The reason for the softness is due to the iterative solver in Box2D.
The friction joint requires you to select a maximum friction force and torque. See the ApplyForce example for a technique to compute these limits from other known quantities.
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