#ifndef _SIMPLESCENES_NINJA_H_
 #define _SIMPLESCENES_NINJA_H_
 
 class SimpleScenes_Ninja:public SimpleScenes
 {
  public:
   SimpleScenes_Ninja(OgreOde::World *world) : SimpleScenes(world) 
   {
    Entity* hero_ent = _mgr->createEntity("ninja","ninja.mesh");
    SceneNode* hero_node = _mgr->getRootSceneNode()->createChildSceneNode("ninja");
    hero_node->attachObject(hero_ent);
    hero_node->scale(0.01,0.01,0.01);
 
    AxisAlignedBox aab = hero_node->getAttachedObject("ninja")->getBoundingBox(); 
    Ogre::Vector3 min = aab.getMinimum()*hero_node->getScale();
    Ogre::Vector3 max = aab.getMaximum()*hero_node->getScale();
    Ogre::Vector3 center = aab.getCenter()*hero_node->getScale();
    Ogre::Vector3 size(fabs(max.x-min.x),fabs(max.y-min.y),fabs(max.z-min.z));
    float radius = (size.x>size.z)?size.z/2.0f:size.x/2.0f;
 
    OgreOde::Body* dollFeetBody = new OgreOde::Body(_world,"feet");
    dollFeetBody->setMass(OgreOde::SphereMass(70*2.5,radius));
    OgreOde::SphereGeometry* feetGeom = new OgreOde::SphereGeometry(radius,_world);
    OgreOde::TransformGeometry* feetTrans = new OgreOde::TransformGeometry(_world,_space); 
 
 
    feetTrans->setBody(dollFeetBody); 
    feetTrans->setEncapsulatedGeometry(feetGeom);
    hero_node->attachObject(dollFeetBody);
    _feet = dollFeetBody;
    _bodies.push_back(_feet);
    _geoms.push_back(_feet->getGeometry(0));
 
    OgreOde::Body* dollTorsoBody = new OgreOde::Body(_world,"torso"); 
    dollTorsoBody->setMass(OgreOde::CapsuleMass(70*2.5,radius,Vector3::UNIT_Y,radius)); 
    dollTorsoBody->setAffectedByGravity(false);
    OgreOde::TransformGeometry* torsoTrans = new OgreOde::TransformGeometry(_world,_space); 
    OgreOde::CapsuleGeometry* torsoGeom = new OgreOde::CapsuleGeometry(radius,size.y-4*radius,_world); 
    torsoGeom->setPosition(Ogre::Vector3(0,size.y-((size.y-4*radius)/2+2*radius),0)); 
    torsoGeom->setOrientation(Quaternion(Degree(90),Vector3::UNIT_X));
    torsoTrans->setBody(dollTorsoBody); 
    torsoTrans->setEncapsulatedGeometry(torsoGeom);
    hero_node->attachObject(dollTorsoBody);
    _torso = dollTorsoBody;
    _bodies.push_back(_torso);
    _geoms.push_back(_torso->getGeometry(0));
 
    OgreOde::HingeJoint* joint = new OgreOde::HingeJoint(_world);
    joint->attach(dollTorsoBody,dollFeetBody);
    joint->setAxis(Ogre::Vector3::UNIT_X);
    _joints.push_back(joint);    
   }
 
   virtual ~SimpleScenes_Ninja(){}
 
   virtual void frameEnded(Real time, OIS::Keyboard* input, OIS::Mouse* mouse)
   {
    SimpleScenes::frameEnded(time, input, mouse);
 
    _ninja_rotate = 0;
    if (input->isKeyDown(KC_J))
     _ninja_rotate += -1;
    if (input->isKeyDown(KC_L))
     _ninja_rotate += 1;
 
    _ninja_thrust = 0;
    if (input->isKeyDown(KC_I))
     _ninja_thrust += -1;
    if (input->isKeyDown(KC_K))
     _ninja_thrust += 1; 
 
    if (_ninja_rotate == 0)
    {
     _feet->wake();
     _feet->setAngularVelocity(Vector3(_feet->getAngularVelocity().x,0,0));
    }
    else
    {
     _feet->wake();
     Quaternion q1 = _torso->getOrientation();
     Quaternion q2(Degree(-4*_ninja_rotate),Ogre::Vector3::UNIT_Y);
     _torso->setOrientation(q1*q2);
    }
 
    if (_ninja_thrust == 0)
    {
     _feet->wake();
     _feet->setLinearVelocity(Vector3(0,_feet->getLinearVelocity().y,0));
     _feet->setAngularVelocity(Vector3(0,_feet->getAngularVelocity().y,0));
    }
    else
    {
     float speed = 30;
     _feet->wake();
     Quaternion q = _torso->getOrientation();
     _feet->setAngularVelocity(q*Ogre::Vector3(speed*_ninja_thrust*cos(1.0),_feet->getAngularVelocity().y,0));
    }
 
    Quaternion q = _torso->getOrientation();         
    Vector3 x = q.xAxis();
    Vector3 y = q.yAxis();
    Vector3 z = q.zAxis();
    _torso->wake();
    _torso->setOrientation(Quaternion(x,Vector3::UNIT_Y,z));
    _torso->setAngularVelocity(Vector3(0,0,0)); 
 
    OgreOde::Body* body = 0;
    if (input->isKeyDown(KC_Z)) 
     body = createRandomObject(OgreOde::Geometry::Class_Sphere);
    else if (input->isKeyDown(KC_X)) 
     body = createRandomObject(OgreOde::Geometry::Class_Box);
    else if (input->isKeyDown(KC_C)) 
     body = createRandomObject(OgreOde::Geometry::Class_Capsule);
    else if (input->isKeyDown(KC_T)) 
     body = createRandomObject(OgreOde::Geometry::Class_TriangleMesh);
   }
 
  virtual const String& getName()
  {
   static String name = "Ninja Walking Character";
   return name;
  }
 
  virtual const String& getKeys()
  {
   static String keys = "IJKL - move character Z-sphere X-box C-capsule T-trimesh";
   return keys;
  }
 
  protected:
   OgreOde::Body *_hero;
   OgreOde::Body *_feet;
   OgreOde::Body *_torso;
   int _ninja_rotate,_ninja_thrust;
 };
 
 #endif

{CODE(wrap="1", colors="c++")} #include "SimpleScenes_Ninja.h"{CODE}
* in the same file find this:
 else if (myInput->isKeyDown(KC_F7))
 {
  delete _test;
  _test = new SimpleScenes_Zombie(_world);
 
  changed = true;
 }

else if (myInput->isKeyDown(KC_F7))
 {
  delete _test;
  _test = new SimpleScenes_Zombie(_world);
 
  changed = true;
 }
 else if (myInput->isKeyDown(KC_F8))
 {
  delete _test;
  _test = new SimpleScenes_Ninja(_world);
 
  changed = true;
 }