I lost an hour because of inadequate documentation regarding how to update the simulation in PhysX. Here is a tip:
If your objects just won’t move, it’s probably because you are only calling physicsScene->simulate. For reasons which are not explained, you have to call:
physicsScene->fetchResults
then update your inputs
then call
physicsScene->simulate((float)(elapsedTimeMS)*0.001f);
physicsScene->flushStream();