I gave a talk at AMAZE JHB on building characters in Unity and driving them with PhysX.
Like I said during the talk, as I navigated through the example project I'd built, there's loads of ways to configure joints and forces to produce gameplay, I was just showing off one way to do it.
That said, here's the Unity 5.4 project for anyone who's interested to paw through and meddle with and (hopefully) learn from. I had a request afterward for the source, and it seemed to a helpful thing to do.
The project has a couple of scenes in it, as seen in the talk at A MAZE. The final scenes have two characters that can walk around in them, and there's a kind of faceplant jump that they can do. It's very simple, but hopefully it provides an idea of how a PhysX driven character might be constructed.
I'd of course be super stoked if anyone built upon this project (please show me if you do). There's a little bit of code in there that is common in Free Lives projects, but I presume everyone who contributed to it is happy for it to be reused. Please use this project in whatever way you wish.
For anyone who wants to use this code in a commercial project, and needs all the legalities squared away, you may use this under the Creative Commons Attribution 4.0 International License. You can read the full license here.
Basically: You can use this code in whatever commercial product you like, and make whatever changes you like, but mention me in the credits (Evan Greenwood), and mention if you modified the code. And also include a link to the license: https://creativecommons.org/licenses/by/4.0/legalcode
(Don't worry about this legal stuff if you don't have to, it's just here in case it's needed, one person actually did need it)