I actually started working on this. I have PhysX4.0 in the Engine and my game runs (Still needs clean up in the build system, but it does build).
I’m integrating the reduced coordinate articulations right now, I’m not finished but will chime back when I’m done.
It would be nice that nVidia release their UE4 source.
Using TGS with D6joint didn’t seem more stable to me. However, the articulation in reduced coordinate form seem to be better, but I found previously that converting from cm to meters for PhysX was much more stable.