yes i apply forces via the ForceAndTorque callback, in my case the characters should fall somewhere.... (as a test)

[pascal]
procedure ForceAndTorqueCallback(const body : PNewtonBody); cdecl;
var
Mass : Single;
Inertia : TCoVector3;
Force : TCoVector3;
begin
NewtonBodyGetMassMatrix(Body, @Mass, @Inertia.x, @Inertia.y, @Inertia.z);
with Force do begin
X := -6;
Y := -6 * Mass;
Z := -6;
end;
NewtonBodySetForce(Body, @Force.x);
end;
[/pascal]