Ardor3d + JBullet: setting camera as rigidbody

[professorx]

I am making a game in Ardor3D with JBullet, and I have created a CameraMotionState that extends MotionState, and created a RigidBody for the camera. The problem is, if I set the RigidBody mass to 0, the camera is free to move around by pressing keys, but it can go through objects. If I set the mass to anything else, then the camera falls and can't go through objects, but it is not free to move by pressing keys. How can I make it so the camera's RigidBody if free to move around, but still collides with objects?