farseer 3.3.1

        World physicsWorld = new World(new Vector2(0, 300));
        Body box2, box;
        Texture2D _bodyTexture;
        Vector2 _bodyOrigin;

        protected override void LoadContent()
        {
            spriteBatch = new SpriteBatch(GraphicsDevice);

            box = RectangleBody(50, 50, BodyType.Dynamic, 0, 0);
            box.Position = new Vector2(100, 100);
            box.Mass = 7;

            box2 = RectangleBody(50, 50, BodyType.Dynamic, 0, 0);
            box2.Position = new Vector2(125, 200);
            box2.Mass = 7;
            box2.ApplyLinearImpulse(new Vector2(100, 100));

            _bodyTexture = Content.Load<Texture2D>("box");
            _bodyOrigin = new Vector2(_bodyTexture.Width / 2f, _bodyTexture.Height / 2f);

            Body floor = RectangleBody(1000, 100, BodyType.Static, 0.2f, 0);
            floor.Position = new Vector2(500, 500);
        }

        public Body RectangleBody(int width, int height, BodyType bodyType, float restitution, float friction)
        {
            Vertices rectVerts = PolygonTools.CreateRectangle(width / 2, height / 2);
            PolygonShape shape = new PolygonShape(rectVerts, 1);

            Body body = BodyFactory.CreateBody(physicsWorld);
            body.BodyType = bodyType;
            body.CreateFixture(shape);
            body.FixtureList[0].Friction = friction;
            body.FixtureList[0].Restitution = restitution;

            return body;
        }

        protected override void Update(GameTime gameTime)
        {
            physicsWorld.Step((float)gameTime.ElapsedGameTime.TotalMilliseconds);

            base.Update(gameTime);
        }
        protected override void Draw(GameTime gameTime)
        {
            GraphicsDevice.Clear(Color.CornflowerBlue);

            spriteBatch.Begin();
            spriteBatch.Draw(_bodyTexture, box.Position, null, Color.White, box.Rotation, _bodyOrigin, 1f, SpriteEffects.None, 1f);
            spriteBatch.Draw(_bodyTexture, box2.Position, null, Color.White, box2.Rotation, _bodyOrigin, 1f, SpriteEffects.None, 1f);
            spriteBatch.End();

            base.Draw(gameTime);
        }