A CapsuleCollider

No rigidbody (there is not a single rigidbody in this entire scene)

Several CapsuleCasts, Raycasts, OverlapCapsules, ComputePenetrations every FixedUpdate

PhysX 3.4, SAP: 14.2ms

14.2ms PhysX 4.0, SAP: 18.8ms

18.8ms PhysX 4.0, ABP: 17.4ms on average, but fluctuates a bit more than SAP. Some frames are costlier than SAP, most are less

Tried a quick perf benchmark that looks like this:This is 1000 "characters" moving. The characters consist of:The results are all in-editor since there's no build support. The millisecond measurements are the cost of the total FixedUpdate where all the Physics queries are happening:I'm not too surprised about the fact that it is more expensive in PhysX4 right now since it is an early build, so I think this was to be expected. On the other hand, ABP broadphase does seem to bring a slight benefit in this case. Also I do realize that the changes brought by P4.0 are mostly about rigidbody simulation performance and joint solving quality, but I think those are interesting numbers nonetheless (could be indicative of an issue)But I'd be curious to know if PhysX 4 brings other changes that may have caused this performance drop. For example; I know a while back, making rigidbody-less colliders move was more expensive than making colliders with rigidbodies move. This disappeared at some point but I wonder if PhysX4 brought this back?