Just a quick reality check: If you want to do physics, you HAVE to learn scripting. Even template physics requires a lot of tweaks that have nothing to do with the engine and everything to do with your game.

Remember that templates are for cookie cutter games. If your game goes even slightly outside the mold, then you will be fighting the templates to do something they weren't designed for. Hence I recommend that if you wish to continue doing physics, you learn scripting first... trust me in the time it has taken you to problem solve this, you could make good headway into scripting... not saying that would have solved your problem but it may have made it easier on you.