I just saw an announcement for improved GPU features in PhysX, but it was pretty light on detail. This is all the information I could find:
GameWorks SDK 3.1
NVIDIA PhysX-GRB - a new implementation of NVIDIA’s popular PhysX rigid body dynamics SDK, which has been used in hundreds of games. This hybrid CPU/GPU physics pipeline improves performance by a factor of up to 6X for moderate to heavy simulation loads.
Does anybody have any more specific details on what is new? I am particularly interested in whether there is now GPU support for articulations.