Joint for character controler

Hi
I used OgreNewt ,but now I try OgreOde .Is in OgreOde something like UpVector joint from OgreNewt ?
This joint in OgreNewt enable rotations of object around given vector ,and disable others.
I want this joint to create character controler for my 3d platform game .
I readed Walking Character tutorial ,and see SimpleScenes demos but still don't have idea how to disable
rotation on x and z axis ,I want only rotation on y axis.I tried this:

Quaternion orientation=body->getOrientation();
Quaternion new_orientation( orientation.getYaw() , Vector3(0,1,0) );
body->setOrientation( new_orientation);

but this cause incorrect collision (objects are overlaping ).
Is in OgreOde a joint which can do it ?
Please if anyone have Idea how to do that help me .