There are two files with tasks in src directory (main_8_1.cpp and main_8_2.cpp).
See function initPhysicsScene() for the details.

links:
https://gameworksdocs.nvidia.com/PhysX/4.1/documentation/physxguide/Manual/Index.html
https://gameworksdocs.nvidia.com/PhysX/4.1/documentation/physxapi/files/index.html