look at the following commands.
PHY ADD RIGID BODY FORCE AT LOCAL
PHY ADD RIGID BODY FORCE
PHY ADD RIGID BODY LOCAL FORCE AT LOCAL
PHY ADD RIGID BODY LOCAL FORCE
PHY GET COLLISION FRICTION FORCE X
PHY GET COLLISION FRICTION FORCE Y
PHY GET COLLISION FRICTION FORCE Z
PHY GET COLLISION NORMAL FORCE X
PHY GET COLLISION NORMAL FORCE Y
PHY GET COLLISION NORMAL FORCE Z
PHY SET ADAPTIVE FORCE
these will give some control, do remember that it an object control by physX, plus how would you control a ball in real life.
Dark Physics makes any hot drink go cold.