Game1.cs

using System;
using System.Collections.Generic;
using System.Linq;
using Microsoft.Xna.Framework;
using Microsoft.Xna.Framework.Audio;
using Microsoft.Xna.Framework.Content;
using Microsoft.Xna.Framework.GamerServices;
using Microsoft.Xna.Framework.Graphics;
using Microsoft.Xna.Framework.Input;
using Microsoft.Xna.Framework.Media;

using BEPUphysics;
using BEPUphysicsDemos;
using BEPUphysicsDemos.AlternateMovement.SimpleCharacter;


namespace CharacterControllerTest
{
    /// <summary>
    /// This is the main type for your game
    /// </summary>
    public class Game1 : Microsoft.Xna.Framework.Game
    {
        GraphicsDeviceManager graphics;
        SpriteBatch spriteBatch;

        Camera camera;
        TexturedBox ground;
        Space space;


        public Game1()
        {
            graphics = new GraphicsDeviceManager(this);
            Content.RootDirectory = "Content";
        }

        /// <summary>
        /// Allows the game to perform any initialization it needs to before starting to run.
        /// This is where it can query for any required services and load any non-graphic
        /// related content.  Calling base.Initialize will enumerate through any components
        /// and initialize them as well.
        /// </summary>
        protected override void Initialize()
        {
            // TODO: Add your initialization logic here

            base.Initialize();
        }

        /// <summary>
        /// LoadContent will be called once per game and is the place to load
        /// all of your content.
        /// </summary>
        protected override void LoadContent()
        {
            // Create a new SpriteBatch, which can be used to draw textures.
            spriteBatch = new SpriteBatch(GraphicsDevice);

            camera = new Camera(new Vector3(0f, 20f, 0f), 2f, 1f, 1f,
                Matrix.CreatePerspectiveFieldOfView(MathHelper.ToRadians(45f), GraphicsDevice.DisplayMode.AspectRatio,
                0.1f, 10000f));



            Texture2D grass = Content.Load<Texture2D>("grass-texture-2");
            ground = new TexturedBox(Vector3.Zero, 50f, 1f, 50f, grass, this.GraphicsDevice);



            space = new Space();
            space.Add(ground);


            space.ForceUpdater.Gravity = new Vector3(0, -9.8f, 0);

        }

        /// <summary>
        /// UnloadContent will be called once per game and is the place to unload
        /// all content.
        /// </summary>
        protected override void UnloadContent()
        {
            // TODO: Unload any non ContentManager content here
        }

        /// <summary>
        /// Allows the game to run logic such as updating the world,
        /// checking for collisions, gathering input, and playing audio.
        /// </summary>
        /// <param name="gameTime">Provides a snapshot of timing values.</param>
        protected override void Update(GameTime gameTime)
        {
            // Allows the game to exit
            if (Keyboard.GetState().IsKeyDown(Keys.Escape))
                this.Exit();

            float dt = (float)gameTime.ElapsedGameTime.Seconds;
            KeyboardState KeyboardInput = Keyboard.GetState();
            MouseState MouseInput = Mouse.GetState();
            GamePadState GamePadInput = GamePad.GetState(PlayerIndex.One);

            camera.Update(dt, KeyboardInput, MouseInput, GamePadInput);

            space.Update();



            base.Update(gameTime);
        }

        /// <summary>
        /// This is called when the game should draw itself.
        /// </summary>
        /// <param name="gameTime">Provides a snapshot of timing values.</param>
        protected override void Draw(GameTime gameTime)
        {
            GraphicsDevice.Clear(Color.CornflowerBlue);

            ground.Draw(camera.ViewMatrix, camera.ProjectionMatrix);

            base.Draw(gameTime);
        }
    }
}