[ODE] Disabling axis of rotations on a body

[Alex Hetu]

Hi,

I'd like to know if it is possible to disable certain axis of rotation on a
body and still move it around in the world and make it collide with other
bodies without ever rotating around those disabled axis (ex: a tall box or
cylinder that can only rotate on itself around the Y-axis and which can
never fall on its sides...). Or maybe it could be possible to actually
disable all rotations of a body?

I looked for joints or constraints, but joints don't really apply on single
bodies... and i wish to find a CLEAN solution. Am I missing something?

thx!
Alex Hetu