BEPUphysics

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public void Setup(ContactManifoldConstraint contactManifoldConstraint, Contact contact)

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        public BroadPhaseOverlap BroadPhaseOverlap
        {
            get
            {
                return broadPhaseOverlap;
            }
            set
            {
                broadPhaseOverlap = value;
                Initialize(value.entryA, value.entryB);
            }
        }

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        public TerrainDemo(DemosGame game)
            : base(game)
        {
            //x and y, in terms of heightmaps, refer to their local x and y coordinates.  In world space, they correspond to x and z.
            //Setup the heights of the terrain.
            //[The size here is limited by the Reach profile the demos use- the drawer draws the terrain as a big block and runs into primitive drawing limits.
            //The physics can support far larger terrains!]
            int xLength = 180;
            int zLength = 180;

            float xSpacing = 8f;
            float zSpacing = 8f;
            var heights = new float[xLength, zLength];
            for (int i = 0; i < xLength; i++)
            {
                for (int j = 0; j < zLength; j++)
                {
                    float x = i - xLength / 2;
                    float z = j - zLength / 2;
                    //heights[i,j] = (float)(x * y / 1000f);
                    heights[i, j] = (float)(10 * (Math.Sin(x / 8) + Math.Sin(z / 8)));
                    //heights[i,j] = 3 * (float)Math.Sin(x * y / 100f);
                    //heights[i,j] = (x * x * x * y - y * y * y * x) / 1000f;
                }
            }
            //Create the terrain.
            var terrain = new Terrain(heights, new AffineTransform(
                    new Vector3(xSpacing, 1, zSpacing),
                    Quaternion.Identity,
                    new Vector3(-xLength * xSpacing / 2, 0, -zLength * zSpacing / 2)));

            terrain.Material.KineticFriction = 0f;
            terrain.Material.StaticFriction = 0f;

            //terrain.Thickness = 5; //Uncomment this and shoot some things at the bottom of the terrain! They'll be sucked up through the ground.

            Space.Add(terrain);
            //for (int i = 0; i < 3; i++)
            //{
            //    for (int j = 0; j < 3; j++)
            //    {
            //        for (int k = 0; k < 5; k++)
            //        {
            //            Space.Add(new Box(
            //                new Vector3(0 + i * 4, 100 - j * 10, 0 + k * 4),
            //                2 + i * j * k,
            //                2 + i * j * k,
            //                2 + i * j * k,
            //                4 + 20 * i * j * k));
            //        }
            //    }
            //}

            //Build the first body
            var bodies = new List<CompoundShapeEntry>() 
            {
                new CompoundShapeEntry(new BoxShape(1,1,1), new Vector3(0, 50, 0), 1),
                new CompoundShapeEntry(new BoxShape(1,1,1), new Vector3(1, 50.5f, 0), 1),
            };
            var cb2 = new CompoundBody(bodies, 4);
            Space.Add(cb2);

            game.ModelDrawer.Add(terrain);

            game.Camera.Position = new Vector3(0, 30, 20);

        }

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        protected override void UpdateContainedPairs()
        {           
            //Could go other way; get triangles in mesh that overlap the compound.
            //Could be faster sometimes depending on the way it's set up.
            var overlappedElements = Resources.GetCompoundChildList();
            compoundInfo.hierarchy.Tree.GetOverlaps(terrain.boundingBox, overlappedElements);
            for (int i = 0; i < overlappedElements.count; i++)
            {
                TryToAdd(overlappedElements.Elements[i].CollisionInformation, terrain, overlappedElements.Elements[i].Material);

            }

            Resources.GiveBack(overlappedElements);
        }

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                TryToAdd(overlappedElements.Elements[i].CollisionInformation, terrain, overlappedElements.Elements[i].Material, terrain.Material);