BEPUphysics

What do you Recommend to me to integrate bepuphysics?

I'm not clear on what type of recommendation you're looking for; a more specific question might help.

Yeah, I know it's a big question. but do you have any advice for integrating a physics engine running on XNA with the specifications from my project that I gave up ?

The answer is a bit too large to type up in a reasonable period of time, and it would have a low density of value General recommendations can be found scattered throughout the documentation and demos.

Ok, and BepuPhysicsEngine is free ? I can integer it in my game, and put my game in the net ( if it works ^^ ) ?

Monetarily, it is completely free. It is also pretty free in terms of freedom; it is licensed under the permissive Apache 2.0 license.

So, thanks a lot men. This week I'm going to integer this physics engine. Maybe I will have other questions ^^

Re,
Do I have to separate my model into smaller model. Ie have a gun model, a turret, one for each wheel and one for the hull, and then link each model with the physical entity. Or can I directly related to each physical entity corresponding bone?

That's up to you; either way will work.

BepuPhysics have OrientedBoundingBox ?

There is no "Oriented" version of a BoundingBox struct, but there is a box-box special case used when two physical boxes collide. It's designed to be used with colliding entities and so takes BoxShapes, but you could use it to perform OrientedBoundingBox-style tests if you wanted. The BoxShape type itself also provides a RayTest.

The integration seems impossible ^^

Is there a particular issue you're running into?

In my scene management, I have two functions:
- A Draw to display my models
- An update to my actors updater

But now I want to use the physics engine, so the actors will update the update of the current Space.
So the physics engine (Bepuphysics) will update the positions and orientations of ISpaceObject.
After the update of the current space, I need to update my graphics matrices actors.
My question is, How can I recover a matrix generically ISpaceObject?

My question is, How can I recover a matrix generically ISpaceObject?

You cannot; not all ISpaceObjects have such a matrix. I would recommend against trying to set up the interaction at the level of ISpaceObjects. They are not sufficiently informative.

All Entity objects, however, have a WorldTransform property based on their Position and Orientation. All objects capable of motion in BEPUphysics are Entity objects, and they're the only ones with that sort of WorldTransform that get updated by simulation.

There are other objects, such as StaticMeshes, which also have some type of transform, but such objects are conceptually separate from entities. For example, a StaticMesh is incapable of motion, and its matrix represents an affine rather than rigid transform.

If you wish to bundle such static geometry and entities together, I would recommend creating an abstraction layer which contains understanding of the conceptual physical separation while offering a transparent view for the graphics to use. For a simple example, check out the BEPUphysicsDrawer; each display object understands how to transform itself according to its associated physics object, boiling down to a set of triangles and a transform. (Most of the static display types just bake in the transforms, but it would be easy enough to grab the transforms directly from the objects and transform dynamically.)

I have a question for you.
I have bugs when I used Heights for my Heightmap.
I generate a model from a 2D texture with the content pipeline processor.
But I want to know if a StaticMesh ( from model ) has a high cost for collision test ?
Because my heightmap is a big model.
Thanks.