Btw, have you looked at using OxNewton - http://www.dave.serveusers.com/oxNewton.html ?

It is a set of dynamic,static tools more...
Working only under GLScene environement, and now all is build under Turbo Delphi.
Dynamic and Static: Cube, Sphere, Cylinder, Capped Cylinder, ChamferCylinder,
Cone, FPS Character, Ragdoll, Ragdoll SMD format with bones, vehicle and more...
All of this is already ready to use.
The oxNewton component base have change now it is a inherited TGLScene editor component.
Vehicle and ragdoll have change too and it is not only little changes but it is not so hard to convert old project.
I have a lot updates too ready to add but in the moment it is in test, I start to add this new updates in the next coming week.