I did some stuff regarding this last year, My findings are documented here, although it might already be known.

https://github.com/HelgeSverre/ToriL.../Documentation

Regarding this:
(P_ENV 0;P_POS 0;P_QAT 0;P_LINVEL 0;P_ANGVEL 0;FRACT 0;)

I'm, assuming that
ENV means Environment,
POS -> Position,
P_QAT -> quaternion?
LINVEL -> Linear Velocity,
P_ANGVEL -> Angular Velocity,
FRACT -> Fracture