Thanks a lot. Unfortunately, I don't know enough to understand it.
eg:
Code:

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NewtonBodyAddForce(body, 0, 0, bodyMass * (newtonGravity + force.z));
NewtonBodyAddTorque(body, bodyMass * my.move_vec_x, bodyMass * my.move_vec_y, bodyMass * my.move_vec_z);
 

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I don't really know what the parameters between the brackets mean... if you could help me out by explaining to me the useful functions for newton I'd be greatful. Thanks.