Irrlicht Engine

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core::vector3df location;
location = mySceneNode->getAbsolutePosition();
camera->setPosition(location);

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mySceneNode->addChild(cameraSceneNode);

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NewtonBodyGetMatrix(phyBody, &mat.M[0]); 
mat.setTranslation(pos * IrrToNewton); 
NewtonBodySetMatrix(phyBody, &mat.M[0]);

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core::matrix4 NewtonTransMatrix = Newotnblabla;
CameraNode.GetAbsoluteTransformation() = &NewtonTransMatrix;

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// with this you store newton untransformed camera rotation
core::vector3df inputRot = CameraNode.GetRotation();
// now to get the physique transformation matrix of newton elipse agent
core::matrix4 NewtonTransMatrix = Newotnblabla;
CameraNode.GetAbsoluteTransformation() = &NewtonTransMatrix;
// and now set the prevoious rotation of camera again;
 CameraNode.SetRotation(inputRot);

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matrix4 CameraMatrix = Camera->getRelativeTransformation();

core::vector3df ForwardsDirection( CameraMatrix.M[0], CameraMatrix.M[1], CameraMatrix.M[2] );
core::vector3df RightDirection( CameraMatrix.M[8], CameraMatrix.M[9], CameraMatrix.M[10] );

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bool Engine::OnEvent(SEvent event) 
{ 
   if(event.KeyInput.PressedDown) 
   { 
   if(event.KeyInput.Key == KEY_KEY_W) 
      movingforward = true; 

   vector3df forwardVector; 
   vector3df pos = cam->getPosition(); 
    vector3df rot = cam->getTarget(); 

      const float offset = 90.0f; 
      const float pi_div_180 = 0.0174532f; 
      core::vector3df movevect(sin((rot.Y)*pi_div_180), (NEWTON_GRAVITY)?(0):(-sin((rot.X)*pi_div_180)), cos((rot.Y)*pi_div_180)) ; 
      movevect.normalize(); 
      core::vector3df strafevect(sin((rot.Y+offset)*pi_div_180), 0.0f, cos((rot.Y+offset)*pi_div_180)) ; 
      strafevect.normalize(); 

      core::vector3df goal_vel(0,0,0) ; 

      float MoveSpeed = 12.0f; 

      if (movingforward) 
         goal_vel += movevect ;//* ((f32) App->elapsedTime * MoveSpeed * IrrToNewton * 2.0f); 
      if (movingbackward) 
         goal_vel -= movevect ;//* ((f32) App->elapsedTime * MoveSpeed * IrrToNewton); 
    

      if (strafingleft) 
         goal_vel -= strafevect ;//* ((f32) App->elapsedTime * MoveSpeed * IrrToNewton); 
      if (strafingright) 
         goal_vel += strafevect ;//* ((f32) App->elapsedTime * MoveSpeed * IrrToNewton); 

      goal_vel.setLength(MoveSpeed); 

      //goal_vel *= * (f32) App->elapsedTime * MoveSpeed * IrrToNewton; 
       
      core::vector3df current_vel ; 
      NewtonBodyGetVelocity(camBody, &current_vel.X); 
       
      core::vector3df accel = ((goal_vel-current_vel) / NewtonGetTimeStep(phy->nWorld) ) * 0.5f; 

      if (NEWTON_GRAVITY) 
         accel.Y = 0; 
      nm->force = accel; 
       
    //cam->setPosition(pos); 

   } 
   if(!event.KeyInput.PressedDown) 
   { 
      movingforward = false; 
   } 
   return false; 
} 

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void Physics::ApplyForceAndTorqueEvent (const NewtonBody* body) 
{ 
   float mass; 
   float Ixx; 
   float Iyy; 
   float Izz; 

   NewtonBodyGetMassMatrix (body, &mass, &Ixx, &Iyy, &Izz); 

   vector3df force; 
   newtonMesh* nm = (newtonMesh *)NewtonBodyGetUserData(body); 
   force = nm->force; 
   force.Y += NEWTON_GRAVITY * mass * IrrToNewton; 

   vector3df torque (0.0f * IrrToNewton, 0.0f * IrrToNewton, 0.0f * IrrToNewton);  
    
   NewtonBodyAddForce (body, &force.X); 
   NewtonBodyAddTorque (body, &torque.X); 
   nm->force.set(0,0,0); 
} 

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bool Engine::OnEvent(SEvent event) 
{ 
   if(event.KeyInput.PressedDown) 
   {    		
		// Notes:
		//
		// You don't want to calculate for newton units until everything is
		// ready to be passed into newton, keeps your code looking clean.
				
		//vector3df pos = cam->getPosition(); 
		//vector3df rot = cam->getTarget(); 

		const float SPEED = 10.0f;

		//const float offset = 90.0f;		
		//const float pi_div_180 = 0.0174532f; 

		// We'll use Zuess's helpful insight to get the forward, up, and right
		// vectors of the camera.
		matrix4 CameraMatrix = Camera->getRelativeTransformation(); 
		vector3df forwardvector	( CameraMatrix.M[0], CameraMatrix.M[1], CameraMatrix.M[2]  ); 
		vector3df rightvector	( CameraMatrix.M[8], CameraMatrix.M[9], CameraMatrix.M[10] ); 
		vector3df upvector		( CameraMatrix.M[4], CameraMatrix.M[5], CameraMatrix.M[6]  ); 

		// here is the end result vector, used as the force
for the cameras rigid body.
		core::vector3df movement;		
	  
		// forwards..
		if(event.KeyInput.Key == KEY_KEY_W)
			movement = forwardvector * SPEED;    // multiply by speed to adjust how fast the movement is.
		// backwards..
		if(event.KeyInput.Key == KEY_KEY_S)
			movement = -forwardvector * SPEED;
		 // left movement..
		if(event.KeyInput.Key == KEY_KEY_A)
			movement = -rightvector * SPEED;
		// right movement..
		if(event.KeyInput.Key == KEY_KEY_D)
			movement = rightvector * SPEED;
    
		// Same thing as you did in your code.. (?) calc acceleration and store it.
		core::vector3df current_vel; 
		NewtonBodyGetVelocity( camBody, &current_vel.X );
		core::vector3df accel = ( (movement - current_vel) / NewtonGetTimeStep(phy->nWorld) ) * 0.5f; 

		if (NEWTON_GRAVITY) 
			 accel.Y = 0; 
		
		nm->force = accel;

		// You can use NewtonBodyAddForce to add to the bodies current force,
		// or you can use NewtonBodySetForce to set the force exactly to this amount.
		// I don't know how extreme newtons force vectors tend to be, so you will
		// want to play with the constant SPEED.
		movement *= IRR_TO_NEWTON;
		NewtonBodySetForce( camBody, &movement.X );
		//NewtonBodyAddForce( camBody, &movement.X );		
	} 

	return false;