BEPUphysics

First of i created my own simple character controller based on just the basics from yours, and just recently i added that the body to have inverse inertia so that it doesn't rotate, but after that sometimes the body clips with the terrain and doesn't moves, I've already made the body to update continuous, but i have no idea why this is happening. Also i'm using a cylinder to represent the body

Thanks in Advance.

Sorry, I don't have enough information about the character, context, and problem to answer.

That said, if you need character-like behavior, I would strongly recommend just using either the CharacterController or SphereCharacterController from the demos. Robust characters with a decent featureset are remarkably difficult to get right.