[ODE] restraining rotation along axes

[Glenn Watson]

Hi, what is the best way (if it's possible) to ensure
that a rigid body (say falling under gravity and then
colliding with static geo) can only rotate around the
Y axis when it hits something?

Obviously this is very unrealistic, but in this
situation I just want the body to stop as it hits the
static geometry, and maybe bounce slightly etc, but
not fall over (ie rotate on x/z)

Thanks for any help


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