Bullet physics engine, how to freeze an object?

Using Bullet 2.76 I'm trying to freeze an object (rigid body) so that it instantly stops moving, but still responds to collisions.

I tried setting it's activation state to DISABLE_SIMULATION, but then it's virtually nonexistent to other objects. Furthermore, if objects "collide" with it when it's disabled, strange things begin to happen (object's falling through static bodies, etc.)

I suppose, temporarily converting it to a static rigid body could work, but is there an existing "native" way to achieve this on Bullet's side?

Edit: Is there a way to turn off gravity for a specific object?

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该文档有点缺乏，但可以假设下面的方法可以用来禁用特定主体上的引力：

void btRigidBody::setGravity(const btVector3 &acceleration)

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Just set rigid body's mass to 0, then it become static...

http://bullet.googlecode.com/svn/trunk/Demos/HelloWorld/HelloWorld.cpp

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There are functions for btRigidBody called setLinearFactor(x,y,z) and setAngularFactor(x,y,z) that allow you to limit motion along a specific axis and rotation about a specific axis respectively. Calling both functions with all 0 's as arguments should stop all motion. Calling them again with all 1 's will allow motion again.

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