You should have a folder under Rocksim called Data. That is where you want to put all of your engine (.ENG) files. There are already a lot in there.
Once you have done this, find the Program folder (also under the RockSim folder) and find the program called COMPENG.EXE. Double Click it to start it up.
You will see a two paned window. On the left side will be all of your .ENG files. You need to select the ones you want and click the Add button. I generally use the Add All button except when EMRR is doing a contest. Nick creates an .ENG file with all the motors that can be used for a contest. Once you have the engines you want on the right side, click the Compile button.
That's it. The next time you go into RockSim, you will see all of the engines you compiled.
The .ENG files are text based and are editable. I usually combine individual engine data files into a master file to help eliminate duplicate engines showing up in RockSim. There are several "all-in-one" files out there that contain multiple engines from various manufacturers.
Last, the compiler blows out the engine list each time you run it. For instance, say you have every engine loaded. But, you decide to enter the EMRR contest. You would load the virtual5.eng file into your Data folder, run the compiler program and only select virtual5.eng from the left hand side and hit compile. When you go back into RockSim, you will only see the "allowed" engines for the contest.
Hope that help!