LUA is not far from BlitzMax. It has variables and functions. And it has the same functions from Leadwerks API.
Compare:
BlitzMax:
bodyp:tbody=createbodysphere(.35)
positionentity bodyp,entityposition(body,1)
setbodymass bodyp,1.0
entitytype bodyp,1
'rotateentity(bodyp, vec3(0,0,0))
'positionentity(bodyp, vec3(0,0,0))
entityparent body,bodyp
setbodymass bodyp,1
SetBodyElasticity bodyp,0
And LUA-code:
bodyp=CreateBodySphere(0.35)
PositionEntity(bodyp,EntityPosition(body,1))
SetBodyMass(bodyp,1.0)
EntityType(bodyp,1)
--RotateEntity(bodyp, Vec3(0,0,0))
--PositionEntity(bodyp, Vec3(0,0,0))
EntityParent(body,bodyp)
SetBodyMass(bodyp,1)
SetBodyElasticity(bodyp,0)
Moreover, you don't need to read whole that file. Just find calls for function CreateJoint() and look around.
I doubt someone will tune up your bones and physics bodies. It's hard hard work. May be you could find needed digits in my example if you would read it.
Try to use SweptCollision() for bodies.