BEPUphysics

When you add the TriangleMesh object (not the StaticTriangleGroup) to the ModelDrawer, it creates the appropriate type. You don't need to worry about what it's doing on the inside. Similarly, you can add an Entity object to the ModelDrawer and it will behave appropriately.

The DisplayTriangle is used for drawing a single triangle entity.

while setting the localinertiatensor to zero
the code is throwing exception

"Some internal arithmetic has encountered an invalid state. Check for invalid entity momentums, velocities, and positions; propagating NaN's will generally trigger this exception in the getExtremePoint function."

The local tensor inverse must be set to zero, not the non-inverse one. This is equivalent to setting the normal, non-inverse tensor to infinite inertia. It's just a lot easier to just say " = new Matrix()" on the inverse instead.

it worked
thnks for the help

u r aweosme