The camera in the various demos (for instance, http://www.goblinphysics.com/examples/constraint-revolute.html) rotates in weird ways because the default "default Euler order" is set to "XYZ" in Three.js. By adding:
THREE.Euler.DefaultOrder = "YXZ";
at the start of exampleUtils.js, it should fix the issue and your camera will stay parallel to the ground.