Just a quick thanks to everyone who has worked on this.
I have spent the weekend trying to make lisp bindings for ODE. After a day and a half bashing my head against it I never managed to convince the objects to not fall through the floor.
I was very disappointed and just so my weekend wasn't wasted I though I'd have a look at wrapping Newton. 15 mins later the bindings are done, and under an hour later I have stable collisions between objects.
I'm blown away with how little work it takes in newton to get going, well done.
The bindings as they are are super raw and will need work to make newton feel native to lisp but I'm happy to work on it now I have a library that feels like it's not working against me.
OK enough gushing, thanks all