i havent a lot of time to develop this framework
here a last work version
http://jimon.boolean.name/physx/jf3.0028.rar (170kb)
all code work
last stuff work with Irrlicht 1.3 and PhysX 2.7.0 (also work with IrrKlang 0.6)
download :-> 0.3.6.1 (02.11.2006) BugFix
Solve error with name of pmap files in physx .irr loader