Code:

......camera->shape = new btCylinderShapeZ( btVector3( 1.0, 0.0, 2.0 ) );camera->shape->setMargin( 0.5 );trans.setIdentity();camera->motion = new btDefaultMotionState( trans );camera->shape->calculateLocalInertia( 80.0, inertia );camera->body = new btRigidBody( 80.0, camera->motion, camera->shape, inertia, (btScalar)10.0, (btScalar)10.0, (btScalar)10.0, (btScalar)10.0 );camera->body->setAngularFactor( 0.0 );world->addRigidBody( camera->body );......// Front & Back ~ Working but because of the translation motion when// I go to a corner and forward I got some major jaggin....camera->body->translate( btVector3( ( _dir * camera->dir->x ) / camera->speed,  ( _dir * camera->dir->y ) / camera->speed,  0.0 ) );/*// Work but cannot stay stable when climbing stairscamera->body->internalApplyImpulse( btVector3( -camera->vel->x,     -camera->vel->y,     0.5 ),     btVector3( 0.0, 0.0, 0.0 ),     0.25 );*//*// Work but cannot climb stairs or ramps ( this is the one that give the most smooth result but...)camera->body->internalApplyImpulse( btVector3( -camera->vel->x,   -camera->vel->y,   0.0 ),btVector3( 0.0, 0.0, 0.0 ),    0.25 );*//*// Work but cannot climb stairs or rampscamera->body->applyImpulse(  btVector3( -camera->vel->x * camera->speed, -camera->vel->y * camera->speed, -1.0 ), btVector3( camera->pos->x,camera->pos->y,camera->pos->z ) );*//*// Work but cannot climb stairs or rampscamera->body->setLinearVelocity( btVector3( -camera->vel->x * camera->speed,    -camera->vel->y * camera->speed,      -10.0 ) );*/......