BEPUphysics

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var convexhull = new BEPUphysics.Entities.Prefabs.ConvexHull(this.staticMeshVertices, 1);
Vector3 difference = new Vector3(0f, 0f, 0f) - convexhull.Position;

//// THIS WORLD TRANSFORM PERFORMS THE BEST, HOWEVER SOME OBJECTS SEEM TO BE OFF BY 1 Y UNIT 
//thisWorld = ((Matrix[])staticworld)[this.playgroundModelModel.Meshes[0].ParentBone.Index] * Matrix.CreateTranslation(((BEPUphysics.Entities.Prefabs.MobileMesh)this.staticMeshvar).Position + difference);

//thisWorld = ((Matrix[])staticworld)[this.playgroundModelModel.Meshes[0].ParentBone.Index] *Matrix.CreateTranslation(-((BEPUphysics.Entities.Prefabs.MobileMesh)this.staticMeshvar).Position);

//thisWorld = ((Matrix[])staticworld)[this.playgroundModelModel.Meshes[0].ParentBone.Index] * Matrix.CreateTranslation(-this.shapedist.Center);

//thisWorld = ((Matrix[])staticworld)[this.playgroundModelModel.Meshes[0].ParentBone.Index] * Matrix.CreateTranslation(-convexhull.Position);

/// Shapedist Init 
  shapedist = new BEPUphysics.CollisionShapes.ShapeDistributionInformation();
            var staticsomthing = new BEPUphysics.CollisionShapes.MobileMeshShape(this.staticMeshVertices, this.staticMeshIndices, new AffineTransform(new Vector3(1f, 1f, 1f)), BEPUphysics.CollisionShapes.MobileMeshSolidity.Solid, out shapedist);


/// AND CONVES HULL     0 Note  the NewVector3 is used incase i want to add the y offset 

var convexhull = new BEPUphysics.Entities.Prefabs.ConvexHull(this.staticMeshVertices, 1);
Vector3 difference = new Vector3(0f, 0f, 0f) - convexhull.Position;
     

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            //When creating a collision shape based on a model, the graphic will generally be offset at first.
            //This is because the collision shape computes the center of mass and offsets itself to align with the local origin.
            //That offset must be applied to the graphic to make it match the collision shape.

            //Check out the documentation page for more information: 
            //http://bepuphysics.codeplex.com/wikipage?title=Shape%20Recentering

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

            //Create an entity based on the model.
            ConvexHull hull = new ConvexHull(vertices, 10);
            Space.Add(hull);
            //Create a graphic for the hull.  The BEPUphysicsDrawer will also automatically receive a visualization of the convex hull.
            //The graphic will be offset from the collision shape because we have not attempted to offset it to match the collision shape's origin.
            var graphic = new DisplayEntityModel(hull, model, game.ModelDrawer);
            game.ModelDrawer.Add(graphic);


            //Now let's create another entity from the same vertices.
            hull = new ConvexHull(vertices, 10);
            Space.Add(hull);

            //Note that the prefab entity type ConvexHull uses the ConvexHullShape constructor internally, which outputs the computed center of the shape
            //prior to offset.  The ConvexHull constructor sets the entity's Position to that position so that the initial world space location of the vertices
            //matches what was passed into the constructor.
            //The same process could be performed using this code:

            //Vector3 computedCenter;
            //var shape = new ConvexHullShape(vertices, out computedCenter); //<-- It spits out the computed center here; this is what is used to offset the graphic!
            //var entity = new Entity(shape, 10);
            //entity.Position = computedCenter;
            //Space.Add(entity);

            //For more information about constructing entities, check out the EntityConstructionDemo.
            
            //But for now, let's just use the prefab entity type.  As mentioned earlier, the constructor set the entity's Position using the computed center.
            //Since we didn't overwrite it with some other position yet, we can still use it.
            graphic = new DisplayEntityModel(hull, model, game.ModelDrawer);
            graphic.LocalTransform = Matrix.CreateTranslation(-hull.Position);
            game.ModelDrawer.Add(graphic);

            //This graphic is perfectly aligned with the collision shape!  Hooray!


            Box ground = new Box(new Vector3(0, -1.5f, 0), 50, 1, 50);
            Space.Add(ground);
            game.Camera.Position = new Vector3(0, 6, 15);

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  //    CREATING A CONVEX HULL and using its position;    Solution1
            //   TestSphere1 Model Test
            //   Result:   Model is not Set Correctly and Seems to be off to the right and up a little bit
            //----------------------------------------------
            //   Shelf Model Test
            //   up and off to the right   + in the Z   still off center  ----  while negated 
            //   up and off to the left --- while  positave
            //----------------------------------------------
            // House Model Test
            // Result:  Still Off
            var convexhull = new BEPUphysics.Entities.Prefabs.ConvexHull(this.staticMeshVertices, 1);
            //thisWorld = ((Matrix[])staticworld)[this.playgroundModelModel.Meshes[0].ParentBone.Index] * Matrix.CreateTranslation(convexhull.Position);


            ///  BEST RESULTS    Solution2
            //  Caluclating the Diffrent of the Convex Hull and Using it in Conjuction with the staticmesh position
            // TestSphere1 Model Test
            // Result:   The Objects Physics are 1F  TO High
            //-----------------------------------------------
            // Shelf Model Test
            // Result:   Aligned Correctly on X and Z The Textured Graphic is a little bit to Low on the Y Axis....
            //   Result2:  Aligned correctly on X and Z But the Physics but the Physics for the objects are to high.
            //------------------------------------------------------------------
            /// House Model Test
            /// Result:  Allighed Correctly on X and Z,   The Textured Graphic is a little bit to High on the Y Axis....
            /// Result2:   With The Difference Vector set to a -1Y in the calculation, the Models are aligned perfectly;
            Vector3 difference = new Vector3(0f, -1f, 0f) - convexhull.Position;
            //thisWorld = ((Matrix[])staticworld)[this.playgroundModelModel.Meshes[0].ParentBone.Index] * Matrix.CreateTranslation(((BEPUphysics.Entities.Prefabs.MobileMesh)this.staticMeshvar).Position + difference);




////  Solution3
            //  Creating a ConvexHullShape and Outputting the center to use...  
            // TestSphere1 Model Test
            // Results:     Same result as    Test Number 1 convexhull.Position 
            //-------------------------------------
            //   Shelf Model Test
            // Results:   While Negated -- object is off and to the right again    while negated
            //            While Posative  -- object is off to the left againe
            //-------------------------------------------------------------------
            // House Model Test
            // close but no cigar   off in the Z 
            // SameResults (obviously with Negated or Posative Center)
            Vector3 computedCenter;
            var shape = new BEPUphysics.CollisionShapes.ConvexShapes.ConvexHullShape(this.staticMeshVertices, out computedCenter);
            //thisWorld = ((Matrix[])staticworld)[this.playgroundModelModel.Meshes[0].ParentBone.Index] * Matrix.CreateTranslation(computedCenter);
            


/// Solution4
            /// Using just the Mobile Meshes Position
            // TestSphere1 Model Test
            // Result:   The Models are Aligned Properly..... 
            //-----------------------------
            // Shelf Model Test
            // Result: Only a little bit off, mostly in the Y little bit in the Z direction    in the posative
            //--------------------------------------------------------------------
            //  House Model Test
            //  Result:   MobileMesh Position Way off
            // thisWorld = ((Matrix[])staticworld)[this.playgroundModelModel.Meshes[0].ParentBone.Index] *Matrix.CreateTranslation(((BEPUphysics.Entities.Prefabs.MobileMesh)this.staticMeshvar).Position);


            
            /// Solution5
            /// Creating Shape Distribution Information and Using the Center Negated.
            /* THIS HAPPENS IN THE UPDATE    JUST SHOWING HERE FOR REFERENCE 
            shapedist = new BEPUphysics.CollisionShapes.ShapeDistributionInformation();
            var staticsomthing = new BEPUphysics.CollisionShapes.MobileMeshShape(this.staticMeshVertices, this.staticMeshIndices, new AffineTransform(new Vector3(1f, 1f, 1f)), BEPUphysics.CollisionShapes.MobileMeshSolidity.Solid, out shapedist);*/
            //   TestSphere1 Model Test
            //   Result:    The Models Physics are wrong and Up and to the Right 
            //--------------------------------------------------
            //    Shelf Model Test
            //  Result: Physics are way off to the up and right
            //----------------------------------------------------------
            ////  House Model Test
            ///  Result :way off and down 
            //thisWorld = ((Matrix[])staticworld)[this.playgroundModelModel.Meshes[0].ParentBone.Index] * Matrix.CreateTranslation(-this.shapedist.Center);