BEPUphysics

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		public BepuTankInput(Vector3 position, ConvexHull shape, Space owningSpace)
		{
			this.Space = owningSpace;
			RigidTransform t = RigidTransform.Identity;

			//				shape.CollisionInformation.LocalPosition = new Vector3(0, -.7f, 0);
			shape.Position = (position); //At first, just keep it out of the way.

			Vehicle = new BEPUphysics.Vehicle.Vehicle(shape);

			var bb = shape.CollisionInformation.BoundingBox;

			#region RaycastWheelShapes

			//The wheel model used is not aligned initially with how a wheel would normally look, so rotate them.
			MaximumDriveForce = 450;
			BaseSlidingFriction = 0.995f;
			float sus_damping = 100f;
			float sus_stiffness = 400f;

			int num_wheels_per_side = 4;
			int one_over_nwps = 1 / num_wheels_per_side;

			// positions relative to centre of tank of wheels on each side
			float[] positions = { -1f, -0.5f, 0f, 0.5f, 1f };

			Matrix wheelGraphicRotation = Matrix.CreateFromAxisAngle(Vector3.Forward, MathHelper.PiOver2);
			foreach(var p in positions)
			{
				var toAdd = new Wheel(
					new RaycastWheelShape(.375f, wheelGraphicRotation),
					new WheelSuspension(sus_stiffness, sus_damping, Vector3.Down, 1f, new Vector3(-4.3f, -0.5f, p * 4f) ),
					new WheelDrivingMotor(10, MaximumDriveForce, MaximumDriveForce),
					new WheelBrake(BaseSlidingFriction, BaseSlidingFriction, 1.0f),
					new WheelSlidingFriction(0.5f, 0.6f)
				);

				Vehicle.AddWheel(toAdd);
				leftTrack.Add(toAdd);
			}

			foreach (var p in positions)
			{
				var toAdd = new Wheel(
					new RaycastWheelShape(.375f, wheelGraphicRotation),
					new WheelSuspension(sus_stiffness, sus_damping, Vector3.Down, 1f, new Vector3(4.1f, -0.5f, p * 4f)),
					new WheelDrivingMotor(10, MaximumDriveForce, MaximumDriveForce),
					new WheelBrake(BaseSlidingFriction, BaseSlidingFriction, 1.0f),
					new WheelSlidingFriction(0.5f, 0.6f)
				);

				Vehicle.AddWheel(toAdd);
				rightTrack.Add(toAdd);
			}

			#endregion

			foreach (Wheel wheel in Vehicle.Wheels)
			{
				//This is a cosmetic setting that makes it looks like the car doesn't have antilock brakes.
				wheel.Shape.FreezeWheelsWhileBraking = true;

				//By default, wheels use as many iterations as the space.  By lowering it,
				//performance can be improved at the cost of a little accuracy.
				wheel.Suspension.SolverSettings.MaximumIterations = 4;
				wheel.Brake.SolverSettings.MaximumIterations = 4;
				wheel.SlidingFriction.SolverSettings.MaximumIterations = 4;
				wheel.DrivingMotor.SolverSettings.MaximumIterations = 4;
			}
		}