Collision Problem in RPG_style application

[Ugras]

Dear all, here is my problem.
1) I'm trying to code a simple rpg game, using bullet as physics engine and ogre3d as the graphics engine. Suppose that the user's hand mesh is represented by a simple sphere collision shape. Hand is used to manipulate objects by the way.
2) I update the position of the hand from keyboard using graphics engine. The sphere collision shape position/orientation is updated as

Code: Select all

mpDynamicWorld->mUserHandRigidBody->setWorldTransform(
				btTransform(BtOgre::Convert::toBullet(oriHand),
				BtOgre::Convert::toBullet((posHand) / OGRE_BULLET_METRIC_MULTIPLIER)));

where oriHand and posHand are datas of the hand graphics mesh.

3) Problem is whether the sphere is defined as static (with 0 mass) or not I cannot get a collision response when colliding with a box collision shape of another object. When the mass is not 0, I noticed that collision occurs between trimesh or compounds but this time, because of the forces generated the orientation and position of the hand changes which I do not want. I also tried making it as KINEMATIC_OBJECT.

4) What might be the problem? And, what should be the way that I must follow, in order to create a hand and its collision shape that will update its pos/ori via graphics engine and interact with other objects.
Regards,
Ugras