After a lot of searching about and reading a lot of Physics Libraries Documentation I ended up settling with Bullet Physics, It is fairly lightweight, the documentation was fairly easy to read and setting it up wasn't much of a hassle. I did have to make the physics work alongside the component system rather than within it but that I think was inevitable. Anyway after playing around with it a bit I have managed to get working physics into the game:
Hopefully a lot more to come
Cheers :)