BEPUphysics

huh... would've never thought of doing it this way late at night.
Thanks for the help!, things seem to be working correctly now. Though I'm sure I'll have more questions to come..

I need to create a number of objects made up of several rectangular boxes, possible best described by this "drawing": o-----o |\ /| | \ / | | X | | / \ | |/ \| o-----o where o's is where joints are. I've got this working fine when centered at the origin (I calculate positions of the joints...