So, as a conclusion, I wanted to make a small tip for those, who wants to create drag/drop with physX. Instead of setting kinematic flag or converting entity to PH_CHAR which IS DIRTY (and won't really work properly I think), I would recommend just to reset gravity forces (via pXent_setbodyflag), and then use pXent_setposition to move the entity and pXent_rotate to rotate it with camera. And to make it automatically drop, if carried object hits anything too hard. Maybe later I'll add my small example here.