To create the arena, we are going to create a seperate entity "ArenaEntity" to insert the object into the simulation engine. We'll start by adding a C# class file to our simulation project. Then inside the class, we create 4 walls (made out of a box shape) and place these as the corners. there is no floor, so make sure the simulation has an appropiate floor.

using System.Collections.Generic;
using Microsoft.Dss.Core.Attributes;
using Microsoft.Robotics.Simulation.Engine;
using Microsoft.Robotics.PhysicalModel;
using Microsoft.Robotics.Simulation.Physics;

namespace Robotics.Rc2009Arena
{
    [DataContract, DataMemberConstructor]
    public class ArenaEntity : MultiShapeEntity
    {

        public ArenaEntity() { }

        public ArenaEntity(Vector3 position)
        {
            Vector3 arenaBorderH = new Vector3(5.0f, 0.8f, 0.01f);
            Vector3 arenaBorderV = new Vector3(0.01f, 0.8f, 5.0f);
            Vector4 arenaColor = new Vector4(0.7f, 0.7f, 0.7f, 0.7f);
            float arenaHeight = arenaBorderH.Y / 2;

            State.Pose.Position = position;
            State.Flags = EntitySimulationModifiers.Kinematic;

            BoxShape rand1 = new BoxShape(
               new BoxShapeProperties(
                   30, new Pose(
                       new Vector3(0, arenaHeight, -2.5f)),
                   arenaBorderH
               )
           );

            BoxShape rand2 = new BoxShape(
               new BoxShapeProperties(
                   30, new Pose(
                       new Vector3(
                           0, arenaHeight, 2.5f)),
                   arenaBorderH
               )
           );

            BoxShape rand3 = new BoxShape(
               new BoxShapeProperties(
                   30, new Pose(
                       new Vector3(
                           -2.5f, arenaHeight, 0)),
                   arenaBorderV
               )
           );

            BoxShape rand4 = new BoxShape(
               new BoxShapeProperties(
                   30, new Pose(
                       new Vector3(
                           2.5f, arenaHeight, 0)),
                   arenaBorderV
               )
           );

            rand1.BoxState.DiffuseColor = arenaColor;
            rand2.BoxState.DiffuseColor = arenaColor;
            rand3.BoxState.DiffuseColor = arenaColor;
            rand4.BoxState.DiffuseColor = arenaColor;

            this.BoxShapes = new List<BoxShape>();

            this.BoxShapes.Add(rand1);
            this.BoxShapes.Add(rand2);
            this.BoxShapes.Add(rand3);
            this.BoxShapes.Add(rand4);
        }
    }
}

Finally we need to insert the arenaEntity into our simulation world, so from the start method in our simulation project, add a call to AddArena to position it in your world.

    AddArena(new Vector3(2.5f, 0, 2.5f));

    private void AddArena(Vector3 position)
        {
            ArenaEntity ISR = new ArenaEntity(position);
            ISR.State.Name = "Info Support Arena";
            SimulationEngine.GlobalInstancePort.Insert(ISR);
        }

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