collision code with sweep test instead of rigid bodies PS it doesn't work

gistfile1.txt

    def update(self, dt):
        dt = min(dt, 0.2) # let's just temporarily assume that if we're getting less than 5 fps, dt must be wrong.
        yaw = self.movement['left'] + self.movement['right']
        self.rotate_by(yaw * dt * 60, 0, 0)
        walk = self.movement['forward'] + self.movement['backward']
        speed = 0
        if self.on_ground:
            speed = walk
            self.xz_velocity = self.position()
            
            #sweep test for destination of walk
            #
            theta = self.actor.get_h()
            mag = speed * dt * 60
            cur_pos_ts = TransformState.makePos(self.position())
            new_pos = (self.position() - Point3(math.cos(theta), 0, math.sin(theta)) * mag)
            new_pos_ts = TransformState.makePos(new_pos)
            #print new_pos
            sweep_result = self.world.physics.sweepTestClosest(self.hector_capsule_shape, cur_pos_ts, new_pos_ts, BitMask32.all_on(), 0)
            #print "s_result : %s" % sweep_result
            if sweep_result.has_hit():
              hit_position = sweep_result.get_hit_pos()
            	normal = sweep_result.get_hit_normal()
            	print "sweep found object at %s , normal %s" % (hit_position, normal)
            	
            	#reflection = new_pos - normal * (2.0 * new_pos.dot(normal)) 
            	#reflection.normalize()
            	par_dir = normal * new_pos.dot(normal) 
            	perp_dir = new_pos - par_dir
            	perp_dir.normalize()
            	perp_component = perp_dir * mag
            	print "new_pos: %s, par_dir: %s, perp_dir: %s, perp_component: %s" %(new_pos,par_dir,perp_dir,perp_component)
            	self.move(self.position() - Vec3(perp_component.x, 0, perp_component.z))

            	
            	
            	#self.move_by(??, 0, ??)
            else:
 	       		self.move_by(0, 0, mag)
            
            
            
            #self.move_by(*move_vector)
            self.xz_velocity -= self.position()
            self.xz_velocity *= -1
            self.xz_velocity /= (dt * 60)
        else:
            self.move(self.position() + self.xz_velocity * dt * 60)
        # Cast a ray from just above our feet to just below them, see if anything hits.
        pt_from = self.position() + Vec3(0, 1, 0)
        pt_to = pt_from + Vec3(0, -1.1, 0)
        result = self.world.physics.ray_test_closest(pt_from, pt_to, MAP_COLLIDE_BIT | SOLID_COLLIDE_BIT)
        self.update_legs(walk,dt)
        if self.y_velocity <= 0 and result.has_hit():
            self.on_ground = True
            self.y_velocity = 0
            self.move(result.get_hit_pos())
        else:
            self.on_ground = False
            self.y_velocity -= 0.20 * dt
            self.move_by(0, self.y_velocity * dt * 60, 0)
        return