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Держите:
Model - Сетка
Actor - физический объект

void Mesh::GenerateTriangleMeshFromDXMesh()
{

	typedef struct {
		D3DXVECTOR3 VertexPos;
		D3DXVECTOR3 Normal;
		D3DXVECTOR2 TexCoord;
	} Mesh_FVF;

	//Used to copy indices
	typedef struct {
		short IBNumber[3];
	} IndexBufferStruct;

	int NumVerticies = Model->GetNumVertices();
	int NumTriangles = Model->GetNumFaces();
	DWORD FVFSize = D3DXGetFVFVertexSize(Model->GetFVF());

	//Create pointer for vertices
	NxVec3* verts = new NxVec3[NumVerticies];

	char *DXMeshPtr;
	Model->LockVertexBuffer(D3DLOCK_READONLY, (void**)&DXMeshPtr);
	for(int i = 0; i < NumVerticies; i++)
	{
		Mesh_FVF *DXMeshFVF = (Mesh_FVF*)DXMeshPtr;
		verts[i] = NxVec3(DXMeshFVF->VertexPos.x, DXMeshFVF->VertexPos.y, DXMeshFVF->VertexPos.z);
		DXMeshPtr += FVFSize;
	}
	Model->UnlockVertexBuffer();

	//Create pointer for indices
	IndexBufferStruct *tris = new IndexBufferStruct[NumTriangles];

	IndexBufferStruct *DXMeshIBPtr;
	Model->LockIndexBuffer(D3DLOCK_READONLY, (void**)&DXMeshIBPtr);
	for(int NumInd = 0; NumInd < NumTriangles; NumInd++)
	{
		tris[NumInd].IBNumber[0] = DXMeshIBPtr[NumInd].IBNumber[0];
		tris[NumInd].IBNumber[1] = DXMeshIBPtr[NumInd].IBNumber[1];
		tris[NumInd].IBNumber[2] = DXMeshIBPtr[NumInd].IBNumber[2];
	}

	Model->UnlockIndexBuffer();




	// Build physical model
	NxTriangleMeshDesc TriMeshDesc;
	TriMeshDesc.numVertices = NumVerticies;
	TriMeshDesc.numTriangles = NumTriangles;
	TriMeshDesc.pointStrideBytes = sizeof(NxVec3);
	TriMeshDesc.triangleStrideBytes = 3*sizeof(NxU16);
	TriMeshDesc.points = verts;
	TriMeshDesc.triangles = tris;
	TriMeshDesc.flags = NX_MF_16_BIT_INDICES;




	NxTriangleMeshShapeDesc ShapeDesc;
	if(0)
	{
		// Cooking from file
		bool status = NxCookTriangleMesh(TriMeshDesc, UserStream("c:\\tmp.bin", false));
		ShapeDesc.meshData = g_pPhysicsSDK->createTriangleMesh(UserStream("c:\\tmp.bin", true));
	}
	else
	{
		// Cooking from memory
		MemoryWriteBuffer buf;
		bool status = NxCookTriangleMesh(TriMeshDesc, buf);
		ShapeDesc.meshData = g_pPhysicsSDK->createTriangleMesh(MemoryReadBuffer(buf.data));
	}



	NxActorDesc actorDesc;
	actorDesc.shapes.pushBack(&ShapeDesc);
	actorDesc.globalPose.t = NxVec3(0,0,0);
	Actor = g_pScene->createActor(actorDesc);
	Actor->userData = (void*)1;

	delete[] verts;
	delete[] tris;
}