walking character [ninja example]

I really want to make a walking character but i toutrial is old and i have errors

My code:
Entity* hero_ent = _mgr->createEntity("ninja","ninja.mesh");
SceneNode* hero_node = _mgr->getRootSceneNode()->createChildSceneNode("ninja");
hero_node->attachObject(hero_ent);
hero_node->scale(0.05,0.05,0.05);
hero_node->translate(Vector3(0,1,0));

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,_space);
OgreOde::TransformGeometry* feetTrans = new OgreOde::TransformGeometry(_world,_space);
hero_node->translate(Vector3(0,-radius/hero_node->getScale().y,0));
feetTrans->setBody(dollFeetBody);
feetTrans->setEncapsulatedGeometry(feetGeom);
hero_node->attachObject(dollFeetBody);

My error:
ODE INTERNAL ERROR 2
GeomTransform encapsulated object must not be in a space (...\collision_transform.cpp:133)



Anyone can help?

Try

OgreOde::SphereGeometry* feetGeom = new OgreOde::SphereGeometry(radius,_world,0);

I think that was a matter of change some time ago.

Thanks , now its working, but i have problems with moving character.
Rotating works

My code:
//rotate
if (input->isKeyDown(KC_J))
{
Quaternion q1 = _torso->getOrientation();
Quaternion q2(Degree(4),Ogre::Vector3::UNIT_Y);
_torso->setOrientation(q1*q2);

}
if (input->isKeyDown(KC_L))
{
Quaternion q1 = _torso->getOrientation();
Quaternion q2(Degree(-4),Ogre::Vector3::UNIT_Y);
_torso->setOrientation(q1*q2);
}

//move
if (input->isKeyDown(KC_I))
{
Quaternion q = _torso->getOrientation();
_feet->wake();
_feet->setAngularVelocity(q*Ogre::Vector3(10*cos(1.0),0,10*sin(1.0)));
}
else //stop
{
_feet->setAngularVelocity(Vector3(0,0,0));
_feet->setLinearVelocity(Vector3(0,_feet->getLinearVelocity().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));

have a look at the debug objects of the feet and torso geometries. does everything appear to be correct? Does the bottom sphere rotate when you hit move?

Debug geometry is same as at the screenshot in wiki.
When i hit bottom sphere rotate but in wrong direction and its move very, very slow.

well then try a higher force and negate the value

how can i use orientation to change force?

_feet->setAngularVelocity(q*Ogre::Vector3(-10000*cos(1.0),0,-10000*sin(1.0)));

ok i made allmost everything,thx to you
i have only one more error, my ninja entity is flying a bit above the floor like on the screenshots in wiki tut http://www.ogre3d.org/wiki/index.php/Image:Wrong.jpg

this code should change it:
hero_node->translate(Vector3(0,radius/hero_node->getScale().y,0));
but char is just send into air