As it is well known, among other meanings "make" means force someone to do something and searching on Google shows that the sentence "The boss made me work an extra day" is grammatical (68,500 hits). Nevertheless, the phrase "people were made to wait" is grammatical (907,000 hits), too.
Clearly, there is no parallelism between the two structures because in the first one "work" is in the - so-called - bare infinitive form while in the second one the mentioned verb is used as an infinitive ("to work").
Question is, is there a rule governing this matter?
Yet, if so, can such a rule be extended to verbs which are different from the verb "make" because they do not support a direct object?