http://www.coniserver.net/coni_users/web_users/pirvu/au/demo/zips/litecnewton.zip

If you need to do other things like make joints and compound collisions just read the newton manual http://www.newtondynamics.com/wiki/
or look at the newton tutorials in the SDK
http://www.newtondynamics.com/downloads.html

Note: the tutorials are in C++ so you will have to do things a little differently but it gives you an idea



Joris Lambrecht
My Contributions: Relative Rotation, Window Sizing