The controls (forwards/backwards) freeze unless i press one of the movement keys as soon as the cube is on the ground.
Ah, that's because PP left the auto-disable for the sphere switched on ;)
To fix that, comment out the following line of the AddObject() function or change the '1' to a '0'...
dBodySetAutoDisableFlag(ode\body,1)
I'll try my best to help you Lee, I need some specific details of exactly what you need first though. How does PP's demo differ from what you're after?... things like that will really help, or if you have any existing code that will help too. Feel free to email me the details (address in profile)