c++ - How do you stop OgreBullet Capsule from falling over?

I've just started implementing bullet into my Ogre project. I followed the install instructions here: http://www.ogre3d.org/tikiwiki/OgreBullet+Tutorial+1

And the rest if the tutorial here: http://www.ogre3d.org/tikiwiki/OgreBullet+Tutorial+2

I got that to work fine however now I wanted to extend it to a handle a first person camera. I created a CapsuleShape and a Rigid Body (like the tutorial did for the boxes) however when I run the game the capsule falls over and rolls around on the floor, causing the camera swing wildly around.

I need a way to fix the capsule to always stay upright, but I have no idea how

Below is the code I'm using.

(part of) Header File

OgreBulletDynamics::DynamicsWorld *mWorld;   // OgreBullet World
OgreBulletCollisions::DebugDrawer *debugDrawer;
std::deque         mBodies;
std::deque  mShapes;

OgreBulletCollisions::CollisionShape *character;
OgreBulletDynamics::RigidBody *characterBody;

Ogre::SceneNode *charNode;

Ogre::Camera* mCamera;
Ogre::SceneManager* mSceneMgr;
Ogre::RenderWindow* mWindow;

main file

bool MinimalOgre::go(void)
{
    ...


     mCamera = mSceneMgr->createCamera("PlayerCam");
     mCamera->setPosition(Vector3(0,0,0));
     mCamera->lookAt(Vector3(0,0,300));
     mCamera->setNearClipDistance(5);
     mCameraMan = new OgreBites::SdkCameraMan(mCamera);


    OgreBulletCollisions::CollisionShape *Shape;
    Shape = new OgreBulletCollisions::StaticPlaneCollisionShape(Vector3(0,1,0), 0); // (normal vector, distance)

    OgreBulletDynamics::RigidBody *defaultPlaneBody = new OgreBulletDynamics::RigidBody(
            "BasePlane",
            mWorld);
    defaultPlaneBody->setStaticShape(Shape, 0.1, 0.8); // (shape, restitution, friction)
    // push the created objects to the deques
    mShapes.push_back(Shape);
    mBodies.push_back(defaultPlaneBody);

    character = new OgreBulletCollisions::CapsuleCollisionShape(1.0f, 1.0f, Vector3(0, 1, 0));


    charNode = mSceneMgr->getRootSceneNode()->createChildSceneNode();
    charNode->attachObject(mCamera);
    charNode->setPosition(mCamera->getPosition());

    characterBody = new OgreBulletDynamics::RigidBody("character", mWorld);
    characterBody->setShape(   charNode,
                    character,
                    0.0f,         // dynamic body restitution
                    10.0f,         // dynamic body friction
                    10.0f,          // dynamic bodymass

                    Vector3(0,0,0),     
                    Quaternion(0, 0, 1, 0));


    mShapes.push_back(character);
    mBodies.push_back(characterBody);

    ...
}

Answer

I actually just finished writing this for my capsule object yesterday.

You just need to call btRigidBody::setAngularFactor(btVector3(Yaw, Pitch, Roll)); Calling it with all 0s will prevent your object from rotating on any angle.

Here is where I originally found the answer: http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=&f=9&t=2956

(In reply to that thread I have had no issues using Bullet 2.79 and setAngularFactor)