Body phases through wall.

Hi, I have a problem with my character moving through walls if he pushes against them long enough. Hoping someone here can help.

I move the character by setting the velocity when a WASD key is pressed. I use C# with Mogre and MogreNewt

bool moving = false;

if (Game.Keyboard.IsKeyDown(MOIS.KeyCode.KC_A))
{
Vector3 dir = node.Orientation * new Vector3(-1, 0, 0);
body.Velocity = dir * 3.0f;
moving = true;

}
if (Game.Keyboard.IsKeyDown(MOIS.KeyCode.KC_D))
{
Vector3 dir = node.Orientation * new Vector3(1, 0, 0);
body.Velocity = dir * 3.0f;
moving = true;
}
if (Game.Keyboard.IsKeyDown(MOIS.KeyCode.KC_W))
{
Vector3 dir = node.Orientation * new Vector3(0, 0, -1);
body.Velocity = dir * 3.0f;
moving = true;
}
if (Game.Keyboard.IsKeyDown(MOIS.KeyCode.KC_S))
{
Vector3 dir = node.Orientation * new Vector3(0, 0, 1);
body.Velocity = dir * 3.0f;
moving = true;
}
This works great for moving the character, and collision does occur when he hits the wall. It's only after he is pressing against the wall for an extended amount of time that he phases through it.

[attachment=1]normalNinja.png[/attachment]

[attachment=0]phasingNinja.png[/attachment]

Here's the body definition, I use a simple box primitive.

Collision col = new MogreNewt.CollisionPrimitives.Box(Game.World, entity.BoundingBox.Size, 0);
body = new Body(Game.World, col);
col.Dispose();
body.SetMassMatrix(mass, Vector3.ZERO);
body.AttachNode(node);
body.SetPositionOrientation(node.Position, node.Orientation);
body.IsGravityEnabled = true;


MogreNewt.BasicJoints.UpVector uv2 = new MogreNewt.BasicJoints.UpVector(Game.World, body, Vector3.UNIT_Y);

Sorry for the rather lengthy post, any help would be appreciated.

Do not set velocity like that.
Use forces instead , there is an equation about what force to use to make body move with specified velocity.

Thank you for your quick reply. I will adjust my code accordingly.

Just in case.
This is the equation I'm using.

public static Vector3 CalculateForce(float bodyMass,Vector3 currentVelocity,Vector3 desiredVelocity,float time)
{
return bodyMass * (desiredVelocity - currentVelocity) / time;
}


You have inverseDynamicForce i thnk for this type of problem!!!