I have switched from PhysX to Bullet (but not irreversibly) due to the long waiting for my developer account from NVidia. To test the physics, I have implemented some basic FPS character movement functionality. First I have tried to use the Bullet’s character class, but after a while I have realized that it would be too painful to use it. Now it works with a simple capsule collision shape locked in vertical orientation. Here is a short video about the new features.