Even if you don't need a physics simulation (just a movement script, for example) I'd recommend you to use a physics engine for better collisions. The built-in physx plugin will most likely not do, though, as it's missing some important features (mostly scene-query stuff).

I'm using the unfinished physix 3 plugin someone on the forum made a while ago. It has some problems aswell (including bugs with joints, iirc) but for me it works. You could also wrap physx3 or another physics engine yourself.