BEPUphysics

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        public ConcaveSphere(Game1 game, float radius)
        {
            this.game = game;

            CustomModel model = game.Models["Sphere"];

            int numTriangles = model.ModelData.Triangles.Length;

            float scale = 2f * radius;

            Matrix scaleTransform = new Matrix();
            scaleTransform.M11 = scale;
            scaleTransform.M12 = scale;
            scaleTransform.M13 = scale;
            scaleTransform.M21 = scale;
            scaleTransform.M22 = scale;
            scaleTransform.M23 = scale;
            scaleTransform.M31 = scale;
            scaleTransform.M32 = scale;
            scaleTransform.M33 = scale;
            scaleTransform.M44 = 1f;

            List<DynamicCompoundEntry> triangles = new List<DynamicCompoundEntry>(numTriangles);

            for (int i = 0; i < numTriangles; ++i)
            {
                // [Non Recentered Triangle]
                TriangleShape tri = new TriangleShape();

                tri.VertexA = model.ModelData.Triangles[i].A;
                tri.VertexB = model.ModelData.Triangles[i].B;
                tri.VertexC = model.ModelData.Triangles[i].C;

                // [Scaled Non Recentered Triangle]
                //tri.VertexA = Vector3.Transform(model.ModelData.Triangles[i].A, scaleTransform);
                //tri.VertexB = Vector3.Transform(model.ModelData.Triangles[i].B, scaleTransform);
                //tri.VertexC = Vector3.Transform(model.ModelData.Triangles[i].C, scaleTransform);

                // [Recentered Triangle]
                //Vector3 centre;

                //TriangleShape tri = new TriangleShape(
                //    model.ModelData.Triangles[i].A,
                //    model.ModelData.Triangles[i].B,
                //    model.ModelData.Triangles[i].C,
                //    out centre
                //    );

                //TriangleShape tri = new TriangleShape(
                //    Vector3.Transform(model.ModelData.Triangles[i].A, scaleTransform),
                //    Vector3.Transform(model.ModelData.Triangles[i].B, scaleTransform),
                //    Vector3.Transform(model.ModelData.Triangles[i].C, scaleTransform)
                //    );

                tri.Sidedness = TriangleSidedness.Counterclockwise;

                triangles.Add(
                    new DynamicCompoundEntry(
                        tri,
                        100f
                    )
                );
            }

            body = new CompoundBody(triangles);

            game.Space.Add(body);
        }

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        public void Draw()
        {
            int numShapes = compoundbody.Shapes.Count;

            for (int i = 0; i < numShapes; ++i)
            {
                TriangleShape t = body.Shapes[i].Shape as TriangleShape;

                Vector3 v0 = Vector3.Transform(t.VertexA, compoundbody.WorldTransform);
                Vector3 v1 = Vector3.Transform(t.VertexB, compoundbody.WorldTransform);
                Vector3 v2 = Vector3.Transform(t.VertexC, compoundbody.WorldTransform);

                game.WireShapeDrawer.DrawWireTriangle(v0, v1, v2, Color.White);
            }
        }

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            Vector3[] vertices;
            int[] indices;
            TriangleMesh.GetVerticesAndIndicesFromModel(game.Content.Load<Model>("sphere"), out vertices, out indices);


            float radius = .5f;
            var scaleTransform = Matrix.CreateScale(2 * radius);

            List<DynamicCompoundEntry> triangles = new List<DynamicCompoundEntry>(indices.Length / 3);

            for (int i = 0; i < indices.Length; i += 3)
            {
                // [Recentered Triangle]
                Vector3 centre;
                TriangleShape tri = new TriangleShape(
                    Vector3.Transform(vertices[indices[i]], scaleTransform),
                    Vector3.Transform(vertices[indices[i + 1]], scaleTransform),
                    Vector3.Transform(vertices[indices[i + 2]], scaleTransform),
                    out centre
                    );

                //Depending on the winding of the model, using clockwise or counterclockwise will permit
                //objects to move freely from the inside to the outside, or from the outside inside.
                //Doublesided stops both ways.  (It's the default too, so setting this isn't really necessary)
                tri.Sidedness = TriangleSidedness.DoubleSided;
                //By now, if we checked the triangle shape's vertices, they would be in the triangle's local space.
                //If we added centre to the vertices, they would be in the original world space locations.
                //Knowing that, we can pass the centre to the DynamicCompoundEntry's position and they will be in the correct location.
                triangles.Add(
                    new DynamicCompoundEntry(
                        tri,
                        centre,
                        1f
                    )
                );
            }

            var body = new CompoundBody(triangles);

            Space.Add(body);

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            else if (hid.IsKeyDown(PlayerIndex.One, Keys.Up))
            {
                v.X = 0;
                v.Y = 10f;
                v.Z = 0;
          
                concaveSphere.CompoundBody.AngularVelocity += v * dt_Seconds;
            }