In bullet physics it is possible to set the LinearFactor and the AgularFactor on a physics object to restrict the action to e.g. just move in the x, y plane and rotate around the z-axis (like Box2D).
Have looked through the 3D commands but I can not find these functions published (or refered to in the documentation).
in C++ it would be
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body->setLinearFactor(btVector3(1,0,1));
body->setAngularFactor(btVector3(0,1,0));
Regards
Eirik