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Character control PhysX

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Hi, Does anyone got an example with the character controller from ageia PhysX? The one provided with the SDK is really hard to understand what they are doing. What i am trying to accomplish is, is to control an animated mesh character with a capsule or box for collision detection. Just for the record, loading an animated mesh from a file isn't a problem (i am doing this with a 3D graphics engine). If anyone has a working example for me I'd really appreciated it if you show me how you did it. Thanks in advance!

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