BEPUphysics

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        public void Jump()
        {
            Entity.ApplyLinearImpulse(new Vector3(0, 100, 0));
        }

        public void MoveLeft()
        {
            Entity.ApplyLinearImpulse(new Vector3(-20, 0, 0));
        }
        public void MoveRight()
        {
            Entity.ApplyLinearImpulse(new Vector3(20, 0, 0));
        }

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            Entity somethingToConstrain = new Box(Vector3.Zero, 1, 1, 1, 1);
            Space.Add(somethingToConstrain);
            PointOnPlaneJoint pointOnPlaneJoint = new PointOnPlaneJoint(null, somethingToConstrain, Vector3.Zero, Vector3.Forward, somethingToConstrain.CenterPosition);
            Space.Add(pointOnPlaneJoint);

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 class SphereObject:GameObject
    {
        public float Radius { get; protected set; }
        public float CurrentVelocity { get; protected set; }
        public float Velocity { get; set; }
        public float Acceleration { get; set; }
        public Vector3 MovementDirection { get; protected set; }
        public List<Entity> CollidedObjects { get; set; }
        public bool Stunned { get; set; }
        public bool isLanded
        {
       
            get
            {
                return DetermindIsLanded();
            }

        }
        public SphereObject(Model m,Vector3 pos,float radius,string name)
            : base(m,pos,new Sphere(MotionState.DefaultState,radius),name)
        {
            Radius = radius;
            Entity.Mass = 50.0f;
            Entity.Bounciness = 0.3f;
            Entity.IsAffectedByGravity = true;
            Entity.IsActive = true;
            Entity.AngularDamping = 1.0f;
            Velocity = 10.0f;
            Acceleration = 0.5f;
            CollidedObjects = new List<Entity>();
        }

        public bool DetermindIsLanded()
        {
            for (int x = 0; x < CollidedObjects.Count; x++)
            {
                if (
                    (
                    CollidedObjects[x].Tag == "ground" ||
                    CollidedObjects[x].Tag == "step1" ||
                    CollidedObjects[x].Tag == "step2" ||
                    CollidedObjects[x].Tag == "step3" ||
                    CollidedObjects[x].Tag == "step4" ||
                    CollidedObjects[x].Tag == "wall2"
                    ) && Entity.LinearVelocity.Y==0
                   )
                    return true;
                else if(CollidedObjects[x].Tag=="ball2" && Entity.LinearVelocity.Y<=0)
                    return true;
            }
            return false;
        }

        public bool CollidedWithWall()
        {
            for (int x = 0; x < CollidedObjects.Count; x++)
            {
                if (CollidedObjects[x].Tag == "wall1")
                    return true;
            }
            return false;
        }
        public void Stop()
        {
            Entity.LinearMomentum = Vector3.Zero;
        }

        public void Jump()
        {
            if(isLanded)
                Entity.ApplyLinearImpulse(new Vector3(0, 500, 0));
        }

        public void MoveLeft()
        {
            if (!Stunned)
            {
                MovementDirection = Vector3.Left;
                Move();
            }
        }


        public void MoveRight()
        {
            if (!Stunned)
            {
                MovementDirection = Vector3.Right;
                Move();
            }
        }
        protected void Move()
        {
            CurrentVelocity = Vector3.Dot(Entity.LinearVelocity, MovementDirection);
            float velDiff = Velocity - CurrentVelocity;
            float velChange = MathHelper.Clamp(velDiff, 0, Acceleration );
            Entity.InternalLinearVelocity += velChange * MovementDirection;
        }
        public override Matrix GetWorld()
        {
            return Matrix.CreateScale(Radius)*base.GetWorld() * Matrix.CreateTranslation(new Vector3(0, -1.1f*Radius, 0));
        }

        public override void Update(GameTime gameTime)
        {
            if (CollidedWithWall())
            {
                Entity.ApplyLinearImpulse(new Vector3((Entity.LinearVelocity.X>0?50:-50), 0, 0));
                //Stunned = true;
            }
            //if (isLanded)
                //Stunned = false;
            base.Update(gameTime);
        }
    }

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float angle = (float)Math.Acos(Math.Abs(normal.Y)); //normal.Y is equivalent to Vector3.Dot(Vector3.Up, normal)

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            foreach (Contact contact in pair.Contacts)
            {
                if (contact.Position.Y < ball.InternalCenterPosition.Y &&  //Contact point is below the character, not above it.
                   (float)Math.Acos(Math.Abs(contact.Normal.Y)) < MathHelper.PiOver4) //Contact normal is within 45 degrees of up/down.
                {
                    //The reason why the absolute value of the normal.Y is used is that the collision system doesn't pick either
                    //entity as a 'special' one with regard to collisions, so the normal could be pointing either up or down.

                    //We know the ball is supported now.
                    IsSupported = true;
                    break;
                }
            }