BEPUphysics

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public Ship(GraphicsDevice device, Game1 game)
        {

            graphicsDevice = device;
            this.game = game;
            shipColBox = new Box(shipPos, 0.9f, 0.9f, 0.9f);
            //shipColBox = new Box(shipPos, 10f, 10f, 10f);
            game.space.Add(shipColBox);
            shipColBox.Mass = 1.0f;
            shipColBox.IsAffectedByGravity = true;
            //shipColBox.BecomeDynamic(1);          
            //shipColBox.LinearVelocity = new Vector3(0,-100f,0f);
            shipModel = new EntityModel(shipColBox, game.Content.Load<Model>("Models/Ship"), Matrix.Identity * Matrix.CreateScale(0.5f), game);
            game.Components.Add(shipModel);

            shipColBox.Tag = shipModel;            

            Reset();
      }

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public void DrawTerrain()
        {
            //===============================TERRAIN================================================
            //Create a physical environment from a triangle mesh.
            //First, collect the the mesh data from the model using a helper function.
            //This special kind of vertex inherits from the TriangleMeshVertex and optionally includes
            //friction/bounciness data.
            //The StaticTriangleGroup requires that this special vertex type is used in lieu of a normal TriangleMeshVertex array.
            Vector3[] vertices;
            int[] indices;
            TriangleMesh.GetVerticesAndIndicesFromModel(terrain, out vertices, out indices);
            //Give the mesh information to a new StaticMesh.  
            //Give it a transformation which scoots it down below the kinematic box entity we created earlier.
            var mesh = new StaticMesh(vertices, indices, new AffineTransform(new Vector3(0, -30, 0)));

            //Add it to the space!
            space.Add(mesh);
            //Make it visible too.
            Components.Add(new StaticModel(terrain, mesh.WorldTransform.Matrix * Matrix.CreateScale(1000f), this));
            //======================================================================================         

        }

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protected override void Draw(GameTime gameTime)
        {
            //GraphicsDevice device = graphics.GraphicsDevice;
            GraphicsDevice.Clear(Color.CornflowerBlue);

            spriteBatch.Begin();

            spriteBatch.DrawString(font, "Ship Pos: " + ship.shipColBox.Position, new Vector2(10, 10), Color.Black);

            spriteBatch.End();  

            RasterizerState rasterizerState = new RasterizerState();
            rasterizerState.FillMode = FillMode.Solid;
            GraphicsDevice.RasterizerState = rasterizerState;

            GraphicsDevice.BlendState = BlendState.Opaque;
            GraphicsDevice.DepthStencilState = DepthStencilState.Default;
            GraphicsDevice.SamplerStates[0] = SamplerState.LinearWrap;            

            debugDrawer.LightingEnabled = false;
            debugDrawer.VertexColorEnabled = true;
            debugDrawer.World = Matrix.Identity;
            debugDrawer.View = camera.View;
            debugDrawer.Projection = camera.Projection;

            debugBoundingBoxDrawer.Draw(debugDrawer, space);

            //DrawModel(shipModel, ship.World);
            //DrawModel(groundModel, Matrix.CreateScale(1000f) * Matrix.CreateTranslation(0,-29000,0));     
            
            base.Draw(gameTime);
        }