I wrote a open source irrlicht\newton framework. Its name is IrrNewt. it is OOP. It not only contains functions wrapped from newton but also functions wrote by me. It's a full framework to easily integrate physics in your project. Here is a short list of its most important features:
-body with primitive collision (ellipsoid ,box, cylinder, cone, capsule)
-optimized tree collision body (addOctTreeSceneNode)
-optimized tree collision body based on terrain (addTerrainSceneNode)
-simple vehicle
-character controller
-raycast functions for collision detection (getCollisionPoint, getCollisionPoints,getFirstCollisionPoint) all of these use newton
-materials (including materials user defined functions callbacks, for example call a user define function when two materials is colliding (but you can decide to don't write any callbacks) . It is possible also assign the same material to lots of different bodies
-automatic calculation of lots of thing (primitive dimensions, tensor of inertia, tire width and radius, body-scene node position offset if in your model file the model is not centered (for example has feet at 0,0,0)exc..)
-camera physics (automatic calculation of the target)
-doesn't need newton user defined callbacks
-tree body serialization\deserialization (save and load a tree body from\to a file)
-create a body by simply pass the scene node (and the mesh for tree bodies)
-can show newton body as a wireframe rappresentation
Links
IrrNewt home page
IrrNewt 0.3 sdk IrrNewt 0.3 SDK download - platform indipendent size: ~4.7 mb