diff --git a/README.md b/README.md
index 6eb9c97a..059174ce 100644
--- a/README.md
+++ b/README.md
@@ -20,6 +20,7 @@ Link to the live [glTF 2.0 Sample Viewer](https://github.khronos.org/glTF-Sample
     - [ ] Skins not supported since WebGL2 only supports 32 bit
 - [x] [KHR_animation_pointer](https://github.com/KhronosGroup/glTF/tree/main/extensions/2.0/Khronos/KHR_animation_pointer)
 - [x] [KHR_draco_mesh_compression](https://github.com/KhronosGroup/glTF/tree/main/extensions/2.0/Khronos/KHR_draco_mesh_compression)
+- [x] [KHR_implicit_shapes](https://github.com/eoineoineoin/glTF_Physics/blob/master/extensions/2.0/Khronos/KHR_implicit_shapes/README.md)
 - [x] [KHR_interactivity](https://github.com/KhronosGroup/glTF/pull/2293)
 - [x] [KHR_lights_punctual](https://github.com/KhronosGroup/glTF/tree/main/extensions/2.0/Khronos/KHR_lights_punctual)
 - [x] [KHR_materials_anisotropy](https://github.com/KhronosGroup/glTF/tree/main/extensions/2.0/Khronos/KHR_materials_anisotropy)
@@ -43,6 +44,9 @@ Link to the live [glTF 2.0 Sample Viewer](https://github.khronos.org/glTF-Sample
 - [x] [KHR_node_hoverability](https://github.com/KhronosGroup/glTF/pull/2426)
 - [x] [KHR_node_selectability](https://github.com/KhronosGroup/glTF/pull/2422)
 - [x] [KHR_node_visibility](https://github.com/KhronosGroup/glTF/pull/2410)
+- [x] [KHR_physics_rigid_bodies](https://github.com/eoineoineoin/glTF_Physics/blob/master/extensions/2.0/Khronos/KHR_physics_rigid_bodies/README.md)\
+    Supported Engines:
+  - NVIDIA PhysX ([limitations](./glTF-Sample-Renderer/PhysicsEngines.md))
 - [x] [KHR_texture_basisu](https://github.com/KhronosGroup/glTF/tree/main/extensions/2.0/Khronos/KHR_texture_basisu)
 - [x] [KHR_texture_transform](https://github.com/KhronosGroup/glTF/tree/main/extensions/2.0/Khronos/KHR_texture_transform)
 - [x] [KHR_xmp_json_ld](https://github.com/KhronosGroup/glTF/tree/main/extensions/2.0/Khronos/KHR_xmp_json_ld)
@@ -61,6 +65,7 @@ Link to the live [glTF 2.0 Sample Viewer](https://github.khronos.org/glTF-Sample
 - Download renderings and current camera properties
 - Show statistics about the currently loaded file
 - Specify URL parameters to modify behavior on load
+- The Physics tab will only be visible if a loaded glTF contains the `KHR_physics_rigid_bodies` extension. It provides functionality to enable/disable/reset the physics simulation, select a physics engine, manually step through the simulation and enable/disable debug visualization.
 
 ## Usage
 
diff --git a/assets/ui/Physics 30X30.svg b/assets/ui/Physics 30X30.svg
new file mode 100644
index 00000000..a1f9280e
--- /dev/null
+++ b/assets/ui/Physics 30X30.svg	
@@ -0,0 +1,6 @@
+<svg width="50" height="50" viewBox="0 0 50 50" fill="none" xmlns="http://www.w3.org/2000/svg">
+<path d="M25.0506 21.8988C26.8497 21.8988 28.5326 22.239 30.099 22.9192C31.6743 23.5905 33.0618 24.526 34.2612 25.7254C35.4606 26.9247 36.3961 28.3124 37.0674 29.8876C37.7476 31.4629 38.0877 33.1504 38.0878 34.9494C38.0878 36.7395 37.7476 38.427 37.0674 40.0112C36.3961 41.5865 35.4606 42.9741 34.2612 44.1735C33.0618 45.3729 31.6743 46.3083 30.099 46.9796C28.5326 47.6599 26.8498 48 25.0506 48C23.2515 48 21.5642 47.6599 19.9888 46.9796C18.4135 46.3083 17.026 45.3729 15.8266 44.1735C14.6272 42.9741 13.6872 41.5865 13.007 40.0112C12.3358 38.427 12 36.7395 12 34.9494C12 33.1504 12.3357 31.4629 13.007 29.8876C13.6873 28.3124 14.6272 26.9247 15.8266 25.7254C17.026 24.526 18.4135 23.5905 19.9888 22.9192C21.5641 22.239 23.2515 21.8988 25.0506 21.8988ZM29.1949 28.2302C28.8791 28.2302 28.5824 28.2899 28.3058 28.4092C28.0293 28.5269 27.7854 28.6912 27.5748 28.9015C27.3643 29.1119 27.199 29.3562 27.0795 29.6325C26.9616 29.9091 26.902 30.2058 26.902 30.5216C26.902 30.836 26.9616 31.1326 27.0795 31.4108C27.199 31.6872 27.3642 31.9313 27.5748 32.1418C27.7854 32.3521 28.0293 32.5163 28.3058 32.6341C28.5825 32.7534 28.879 32.8131 29.1949 32.8131C29.5108 32.8131 29.8061 32.7534 30.0811 32.6341C30.3576 32.5163 30.6015 32.3521 30.8121 32.1418C31.0228 31.9312 31.188 31.6874 31.3059 31.4108C31.4254 31.1326 31.4849 30.836 31.4849 30.5216C31.4849 30.2058 31.4254 29.9091 31.3059 29.6325C31.188 29.3561 31.0227 29.112 30.8121 28.9015C30.6015 28.6912 30.3576 28.5269 30.0811 28.4092C29.8061 28.2899 29.5107 28.2302 29.1949 28.2302Z" fill="#F5F5F5"/>
+<path d="M25.0506 10.3708C24.7305 10.3708 24.456 10.261 24.2273 10.0414C24.0077 9.82188 23.8979 9.552 23.8979 9.23181V3.1527C23.8979 2.8325 24.0077 2.56263 24.2273 2.34306C24.456 2.11435 24.7305 2 25.0506 2C25.38 2 25.6499 2.11435 25.8603 2.34306C26.0798 2.56263 26.1896 2.8325 26.1896 3.1527V9.23181C26.1896 9.552 26.0798 9.82188 25.8603 10.0414C25.6499 10.261 25.38 10.3708 25.0506 10.3708Z" fill="#F5F5F5"/>
+<path d="M33.4784 18.8331C33.1399 18.8331 32.8609 18.7233 32.6413 18.5037C32.4309 18.2933 32.3257 18.028 32.3257 17.7078V5.94757C32.3257 5.62738 32.4309 5.3575 32.6413 5.13794C32.8609 4.91837 33.1399 4.80859 33.4784 4.80859C33.7894 4.80859 34.0593 4.91837 34.288 5.13794C34.5167 5.3575 34.6311 5.62738 34.6311 5.94757V17.7078C34.6311 18.028 34.5167 18.2933 34.288 18.5037C34.0593 18.7233 33.7894 18.8331 33.4784 18.8331Z" fill="#F5F5F5"/>
+<path d="M15.7484 20.2098C15.4099 20.2098 15.1309 20.1 14.9113 19.8805C14.7009 19.67 14.5957 19.4047 14.5957 19.0845V7.32428C14.5957 7.00408 14.7009 6.73421 14.9113 6.51465C15.1309 6.29508 15.4099 6.1853 15.7484 6.1853C16.0594 6.1853 16.3293 6.29508 16.558 6.51465C16.7867 6.73421 16.9011 7.00408 16.9011 7.32428V19.0845C16.9011 19.4047 16.7867 19.67 16.558 19.8805C16.3293 20.1 16.0594 20.2098 15.7484 20.2098Z" fill="#F5F5F5"/>
+</svg>
diff --git a/assets/ui/Physics 50X50.svg b/assets/ui/Physics 50X50.svg
new file mode 100644
index 00000000..159fec67
--- /dev/null
+++ b/assets/ui/Physics 50X50.svg	
@@ -0,0 +1,6 @@
+<svg width="50" height="50" viewBox="0 0 50 50" fill="none" xmlns="http://www.w3.org/2000/svg">
+<path d="M25.0506 21.8988C26.8497 21.8988 28.5326 22.239 30.099 22.9192C31.6743 23.5905 33.0618 24.526 34.2612 25.7254C35.4606 26.9247 36.3961 28.3124 37.0674 29.8876C37.7476 31.4629 38.0877 33.1504 38.0878 34.9494C38.0878 36.7395 37.7476 38.427 37.0674 40.0112C36.3961 41.5865 35.4606 42.9741 34.2612 44.1735C33.0618 45.3729 31.6743 46.3083 30.099 46.9796C28.5326 47.6599 26.8498 48 25.0506 48C23.2515 48 21.5642 47.6599 19.9888 46.9796C18.4135 46.3083 17.026 45.3729 15.8266 44.1735C14.6272 42.9741 13.6872 41.5865 13.007 40.0112C12.3358 38.427 12 36.7395 12 34.9494C12 33.1504 12.3357 31.4629 13.007 29.8876C13.6873 28.3124 14.6272 26.9247 15.8266 25.7254C17.026 24.526 18.4135 23.5905 19.9888 22.9192C21.5641 22.239 23.2515 21.8988 25.0506 21.8988ZM29.1949 28.2302C28.8791 28.2302 28.5824 28.2899 28.3058 28.4092C28.0293 28.5269 27.7854 28.6912 27.5748 28.9015C27.3643 29.1119 27.199 29.3562 27.0795 29.6325C26.9616 29.9091 26.902 30.2058 26.902 30.5216C26.902 30.836 26.9616 31.1326 27.0795 31.4108C27.199 31.6872 27.3642 31.9313 27.5748 32.1418C27.7854 32.3521 28.0293 32.5163 28.3058 32.6341C28.5825 32.7534 28.879 32.8131 29.1949 32.8131C29.5108 32.8131 29.8061 32.7534 30.0811 32.6341C30.3576 32.5163 30.6015 32.3521 30.8121 32.1418C31.0228 31.9312 31.188 31.6874 31.3059 31.4108C31.4254 31.1326 31.4849 30.836 31.4849 30.5216C31.4849 30.2058 31.4254 29.9091 31.3059 29.6325C31.188 29.3561 31.0227 29.112 30.8121 28.9015C30.6015 28.6912 30.3576 28.5269 30.0811 28.4092C29.8061 28.2899 29.5107 28.2302 29.1949 28.2302Z" fill="#87C540"/>
+<path d="M25.0506 10.3708C24.7305 10.3708 24.456 10.261 24.2273 10.0414C24.0077 9.82188 23.8979 9.552 23.8979 9.23181V3.1527C23.8979 2.8325 24.0077 2.56263 24.2273 2.34306C24.456 2.11435 24.7305 2 25.0506 2C25.38 2 25.6499 2.11435 25.8603 2.34306C26.0798 2.56263 26.1896 2.8325 26.1896 3.1527V9.23181C26.1896 9.552 26.0798 9.82188 25.8603 10.0414C25.6499 10.261 25.38 10.3708 25.0506 10.3708Z" fill="#87C540"/>
+<path d="M33.4784 18.8331C33.1399 18.8331 32.8609 18.7233 32.6413 18.5037C32.4309 18.2933 32.3257 18.028 32.3257 17.7078V5.94757C32.3257 5.62738 32.4309 5.3575 32.6413 5.13794C32.8609 4.91837 33.1399 4.80859 33.4784 4.80859C33.7894 4.80859 34.0593 4.91837 34.288 5.13794C34.5167 5.3575 34.6311 5.62738 34.6311 5.94757V17.7078C34.6311 18.028 34.5167 18.2933 34.288 18.5037C34.0593 18.7233 33.7894 18.8331 33.4784 18.8331Z" fill="#87C540"/>
+<path d="M15.7484 20.2098C15.4099 20.2098 15.1309 20.1 14.9113 19.8805C14.7009 19.67 14.5957 19.4047 14.5957 19.0845V7.32428C14.5957 7.00408 14.7009 6.73421 14.9113 6.51465C15.1309 6.29508 15.4099 6.1853 15.7484 6.1853C16.0594 6.1853 16.3293 6.29508 16.558 6.51465C16.7867 6.73421 16.9011 7.00408 16.9011 7.32428V19.0845C16.9011 19.4047 16.7867 19.67 16.558 19.8805C16.3293 20.1 16.0594 20.2098 15.7484 20.2098Z" fill="#87C540"/>
+</svg>
diff --git a/glTF-Sample-Renderer b/glTF-Sample-Renderer
index 7e5457e0..1f254cfb 160000
--- a/glTF-Sample-Renderer
+++ b/glTF-Sample-Renderer
@@ -1 +1 @@
-Subproject commit 7e5457e0578c907ba8d63a8bd4a843f7b8594be5
+Subproject commit 1f254cfb24cbc0adafcf59285fd6d6fae1639f2e
diff --git a/index.html b/index.html
index 9255da59..44505945 100644
--- a/index.html
+++ b/index.html
@@ -125,15 +125,13 @@
                     <!-- Tabs -->
                     <b-tabs id="tabsContainer" 
                         vertical position="is-right" 
-                        v-model="activeTab"
+                        v-model="activeTabIndex"
                         v-bind:class="[tabContentHidden ? 'is-flex-wrap-nowrap hideTabs tabsContainer' : 'is-flex-wrap-nowrap tabsContainer']" 
                         type="is-toggle" v-bind:animated="false">
 
                         <!-- Tab Category: Models -->
-                        <b-tab-item label="Models" icon="google-photos" class="tab-item tabItemScrollable" 
-                        title-item-class="d-none">
-                            
-                            
+                        <b-tab-item label="Models" icon="google-photos" class="tab-item tabItemScrollable" :order="0" title-item-class="d-none">
+
                             <!-- Tab Header -->
                             <template #header  >
                                 <div id="test-id" @click="collapseActiveTab($event, 0)"
@@ -205,7 +203,7 @@ <h2 class="title is-spaced">Models</h2>
                         </b-tab-item>
 
 
-                        <b-tab-item label="Display" icon="library-music" class="tabItemScrollable tab-item">
+                        <b-tab-item label="Display" icon="library-music" class="tabItemScrollable tab-item" :order="1">
                             <template #header>
                                 <div @click="collapseActiveTab($event, 1)"
                                     v-bind:style="[tabContentHidden === false && activeTab === 1 ? {'height': '100%'} : {}]">
@@ -302,7 +300,7 @@ <h2 class="title  is-spaced">Display</h2>
                             </div>
                         </b-tab-item>
 
-                        <b-tab-item label="Validator" icon="video" class="tabItemScrollable tab-item">
+                        <b-tab-item label="Validator" icon="video" class="tabItemScrollable tab-item" :order="2">
                             <template #header>
                                 <div @click="collapseActiveTab($event, 2)"
                                 v-bind:style="[tabContent === false && activeTab === 2 ? {'height': '100%'} : {}]">
@@ -344,7 +342,7 @@ <h2 class="title is-spaced" v-bind:data="validationReport">glTF Validator</h2>
 
 
                         <!-- Animations tab - shown when no interactivity graphs are available -->
-                        <b-tab-item label="Animations" icon="video" class="tabItemScrollable tab-item">
+                        <b-tab-item label="Animations" icon="video" class="tabItemScrollable tab-item" :order="3">
                             <template #header>
                                 <div @click="collapseActiveTab($event, 3)"
                                     v-bind:style="[tabContentHidden === false && activeTab === 3 ? {'height': '100%'} : {}]">
@@ -542,18 +540,17 @@ <h2 class="title is-spaced" style="margin-bottom: 0.5em;">Interactivity Graphs</
                             </div>
                         </b-tab-item>
 
-
-                        <b-tab-item label="Credits" icon="video" class="tabItemScrollable tab-item">
+                        <!-- Physics tab -->
+                        <b-tab-item label="Physics" icon="video" class="tabItemScrollable tab-item" v-if="hasPhysics" :order="4">
                             <template #header>
                                 <div @click="collapseActiveTab($event, 4)"
                                     v-bind:style="[tabContentHidden === false && activeTab === 4 ? {'height': '100%'} : {}]">
-                                    <!-- to get colored icons use: https://stackoverflow.com/a/43916743 -->
-                                    <img v-bind:src="[tabContentHidden === false && activeTab === 4 ? 'assets/ui/XMP 50X50.svg' : 'assets/ui/XMP 30X30.svg']"
+                                    <img v-bind:src="[tabContentHidden === false && activeTab === 4 ? 'assets/ui/Physics 50X50.svg' : 'assets/ui/Physics 30X30.svg']"
                                         v-bind:width="[tabContentHidden === false && activeTab === 4 ? '50px' : '30px']"
                                         v-bind:style="[tabContentHidden === false && activeTab === 4 ? {'height': '100%'} : {}]">
                                     <span 
                                         v-show='isMobile === false && (tabContentHidden === true || activeTab !== 4)'>
-                                        Credits
+                                        Physics
                                     </span>
                                 </div>
                             </template>
@@ -561,6 +558,61 @@ <h2 class="title is-spaced" style="margin-bottom: 0.5em;">Interactivity Graphs</
                             <div class="tabContent">
                                 <img src="assets/ui/Navigation_right_20px.svg" width="30px"
                                     @click="collapseActiveTab($event, 4)">
+                                <h2 class="title is-spaced" style="margin-bottom: 0.5em;">Physics</h2>
+                                <label class="subtitle">Physics Controls</label>
+                                
+                                <!-- Enable/Disable and Reset buttons -->
+                                <div style="display: flex; gap: 1em; align-items: center; margin-bottom: 1.5em; margin-top: 1em;">
+                                    <toggle-button v-on:buttonclicked="physicsEnabledChanged.next($event)" ontext="Disable" offtext="Enable"
+                                        v-model="physicsState"
+                                        btn-class="round-green-btn">
+                                    </toggle-button>
+                                    <!-- Reset button -->
+                                    <button class="button is-rounded reset-btn-green" style="border: 1.5px solid #87c540; color: #f2f2f2; background: transparent; min-width: 70px;"
+                                        v-on:click="physicsResetChanged.next($event)">
+                                        Reset
+                                    </button>
+                                </div>
+
+                                <!-- Physics Engine Dropdown -->
+                                <b-field label="Physics Engine">
+                                    <b-select v-model="selectedPhysicsEngine" v-on:input="physicsEngineChanged.next($event)">
+                                        <option value="nvidia-physx">Nvidia PhysX</option>
+                                    </b-select>
+                                </b-field>
+
+                                <!-- Debug Section -->
+                                <div class="subtitle">Debug</div>
+                                <div style="display: flex; flex-direction: column; gap: 0.5em; margin-bottom: 1em;">
+                                    <button class="button is-rounded" style="border: 1.5px solid #87c540; color: #f2f2f2; background: transparent; min-width: 70px;"
+                                        v-on:click="physicsStepChanged.next($event)">
+                                        Step
+                                    </button>
+                                    <b-switch v-model="physicsColliderDebug" v-on:input="physicsColliderDebugChanged.next($event.target.checked)">Show Colliders</b-switch>
+                                    <b-switch v-model="physicsJointDebug" v-on:input="physicsJointDebugChanged.next($event.target.checked)">Show Joints</b-switch>
+                                </div>
+                            </div>
+                        </b-tab-item>
+
+
+                        <b-tab-item label="Credits" icon="video" class="tabItemScrollable tab-item" :order="5">
+                            <template #header>
+                                <div @click="collapseActiveTab($event, 5)"
+                                    v-bind:style="[tabContentHidden === false && activeTab === 5 ? {'height': '100%'} : {}]">
+                                    <!-- to get colored icons use: https://stackoverflow.com/a/43916743 -->
+                                    <img v-bind:src="[tabContentHidden === false && activeTab === 5 ? 'assets/ui/XMP 50X50.svg' : 'assets/ui/XMP 30X30.svg']"
+                                        v-bind:width="[tabContentHidden === false && activeTab === 5 ? '50px' : '30px']"
+                                        v-bind:style="[tabContentHidden === false && activeTab === 5 ? {'height': '100%'} : {}]">
+                                    <span 
+                                        v-show='isMobile === false && (tabContentHidden === true || activeTab !== 5)'>
+                                        Credits
+                                    </span>
+                                </div>
+                            </template>
+
+                            <div class="tabContent">
+                                <img src="assets/ui/Navigation_right_20px.svg" width="30px"
+                                    @click="collapseActiveTab($event, 5)">
                                 <h2 class="title">Model Credits</h2>
                                 <div class="modelCredit"><i>Copyright:</i><br/>{{ assetCopyright }}</div>
                                 <div class="modelCredit"><i>Generated by:</i><br/>{{ assetGenerator }}</div>
@@ -579,16 +631,16 @@ <h3 class="title">{{ xmp ? "XMP" : "" }}</h3>
                         </b-tab-item>-->
 
 
-                        <b-tab-item label="Advanced Controls" icon="video" class="tabItemScrollable tab-item">
+                        <b-tab-item label="Advanced Controls" icon="video" class="tabItemScrollable tab-item" :order="6">
                             <template #header>
-                                <div @click="collapseActiveTab($event, 5)"
-                                    v-bind:style="[tabContentHidden === false && activeTab === 5 ? {'height': '100%'} : {}]">
+                                <div @click="collapseActiveTab($event, 6)"
+                                    v-bind:style="[tabContentHidden === false && activeTab === 6 ? {'height': '100%'} : {}]">
                                     <!-- to get colored icons use: https://stackoverflow.com/a/43916743 -->
-                                    <img v-bind:src="[tabContentHidden === false && activeTab === 5 ? 'assets/ui/Developer 50X50.svg' : 'assets/ui/Developer 30X30.svg']"
-                                        v-bind:width="[tabContentHidden === false && activeTab === 5 ? '50px' : '30px']"
-                                        v-bind:style="[tabContentHidden === false && activeTab === 5 ? {'height': '100%'} : {}]">
+                                    <img v-bind:src="[tabContentHidden === false && activeTab === 6 ? 'assets/ui/Developer 50X50.svg' : 'assets/ui/Developer 30X30.svg']"
+                                        v-bind:width="[tabContentHidden === false && activeTab === 6 ? '50px' : '30px']"
+                                        v-bind:style="[tabContentHidden === false && activeTab === 6 ? {'height': '100%'} : {}]">
                                     <span
-                                        v-show='isMobile === false && (tabContentHidden === true || activeTab !== 5)'>
+                                        v-show='isMobile === false && (tabContentHidden === true || activeTab !== 6)'>
                                         Advanced<br>
                                         Controls
                                     </span>
@@ -597,7 +649,7 @@ <h3 class="title">{{ xmp ? "XMP" : "" }}</h3>
 
                             <div class="tabContent">
                                 <img src="assets/ui/Navigation_right_20px.svg" width="30px"
-                                    @click="collapseActiveTab($event, 5)">
+                                    @click="collapseActiveTab($event, 6)">
                                 <h2 class="title is-spaced">Advanced Controls</h2>
                                 <b-field label="Capture Canvas" class="subtitle">
                                     <button v-on:click="captureCanvas.next($event.target.value)" type="button" class="button is-rounded"><i
diff --git a/package-lock.json b/package-lock.json
index d4b9de47..f3d1061c 100644
--- a/package-lock.json
+++ b/package-lock.json
@@ -24,7 +24,7 @@
         "vue": "^3.4.29"
       },
       "devDependencies": {
-        "@rollup/plugin-commonjs": "^26.0.1",
+        "@rollup/plugin-commonjs": "^29.0.0",
         "@rollup/plugin-node-resolve": "^15.2.3",
         "@rollup/plugin-replace": "^5.0.7",
         "@rollup/plugin-wasm": "^6.2.2",
@@ -69,11 +69,12 @@
         "gl-matrix": "^3.2.1",
         "globals": "^15.5.0",
         "jpeg-js": "^0.4.3",
-        "json-ptr": "^3.1.0"
+        "json-ptr": "^3.1.0",
+        "physx-js-webidl": "2.7.2"
       },
       "devDependencies": {
         "@playwright/test": "^1.56.0",
-        "@rollup/plugin-commonjs": "^26.0.1",
+        "@rollup/plugin-commonjs": "^29.0.0",
         "@rollup/plugin-node-resolve": "^15.2.3",
         "@rollup/plugin-wasm": "^6.2.2",
         "@types/node": "^24.7.2",
@@ -300,47 +301,6 @@
         "url": "https://github.com/sponsors/nzakas"
       }
     },
-    "node_modules/@isaacs/cliui": {
-      "version": "8.0.2",
-      "dev": true,
-      "license": "ISC",
-      "dependencies": {
-        "string-width": "^5.1.2",
-        "string-width-cjs": "npm:string-width@^4.2.0",
-        "strip-ansi": "^7.0.1",
-        "strip-ansi-cjs": "npm:strip-ansi@^6.0.1",
-        "wrap-ansi": "^8.1.0",
-        "wrap-ansi-cjs": "npm:wrap-ansi@^7.0.0"
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@@ -452,6 +405,35 @@
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@@ -5676,6 +5458,7 @@
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@@ -5731,15 +5509,33 @@
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+        }
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@@ -8000,6 +7732,11 @@
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+    },
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@@ -8519,10 +8256,6 @@
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@@ -8650,21 +8383,6 @@
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@@ -8672,13 +8390,6 @@
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     "strip-final-newline": {
       "version": "2.0.0",
       "resolved": "https://registry.npmjs.org/strip-final-newline/-/strip-final-newline-2.0.0.tgz",
@@ -8945,30 +8656,6 @@
         }
       }
     },
-    "wrap-ansi-cjs": {
-      "version": "npm:wrap-ansi@7.0.0",
-      "dev": true,
-      "requires": {
-        "ansi-styles": "^4.0.0",
-        "string-width": "^4.1.0",
-        "strip-ansi": "^6.0.0"
-      },
-      "dependencies": {
-        "emoji-regex": {
-          "version": "8.0.0",
-          "dev": true
-        },
-        "string-width": {
-          "version": "4.2.3",
-          "dev": true,
-          "requires": {
-            "emoji-regex": "^8.0.0",
-            "is-fullwidth-code-point": "^3.0.0",
-            "strip-ansi": "^6.0.1"
-          }
-        }
-      }
-    },
     "wrappy": {
       "version": "1.0.2",
       "dev": true
diff --git a/package.json b/package.json
index c7812567..7085cbac 100644
--- a/package.json
+++ b/package.json
@@ -63,7 +63,7 @@
     "vue": "^3.4.29"
   },
   "devDependencies": {
-    "@rollup/plugin-commonjs": "^26.0.1",
+    "@rollup/plugin-commonjs": "^29.0.0",
     "@rollup/plugin-node-resolve": "^15.2.3",
     "@rollup/plugin-replace": "^5.0.7",
     "@rollup/plugin-wasm": "^6.2.2",
@@ -89,4 +89,4 @@
     "url": "https://github.com/KhronosGroup/glTF-Sample-Viewer/issues"
   },
   "homepage": "https://github.com/KhronosGroup/glTF-Sample-Viewer/#readme"
-}
+}
\ No newline at end of file
diff --git a/rollup.config.js b/rollup.config.js
index 90a09a3d..e573f03a 100644
--- a/rollup.config.js
+++ b/rollup.config.js
@@ -78,8 +78,8 @@ export default {
         copyFile(".", "./dist", "main.js", true),
         copyFiles("./assets/images", "./dist/assets/images", true),
         copyFiles("./assets/ui", "./dist/assets/ui", true),
-        copyFiles("./glTF-Sample-Renderer/source/libs", "./dist/libs", true),
-        copyFiles("./glTF-Sample-Renderer/assets/images", "./dist/assets/images", true),
+        copyFiles("./glTF-Sample-Renderer/dist/libs", "./dist/libs", true),
+        copyFiles("./glTF-Sample-Renderer/dist/assets", "./dist/assets/images", true),
         replace({
             "process.env.NODE_ENV": JSON.stringify("production"), // This resolves an issue with vue
             preventAssignment: true
diff --git a/src/logic/uimodel.js b/src/logic/uimodel.js
index ac9bb940..04be0278 100644
--- a/src/logic/uimodel.js
+++ b/src/logic/uimodel.js
@@ -97,6 +97,13 @@ class UIModel {
         this.activeAnimations = app.selectedAnimationsChanged.pipe();
         this.selectedGraph = app.selectedGraphChanged.pipe();
 
+        this.physicsReset = app.physicsResetChanged.pipe();
+        this.physicsEngine = app.physicsEngineChanged.pipe();
+        this.physicsEnabled = app.physicsEnabledChanged.pipe();
+        this.physicsStep = app.physicsStepChanged.pipe();
+        this.physicsColliderDebug = app.physicsColliderDebugChanged.pipe();
+        this.physicsJointDebug = app.physicsJointDebugChanged.pipe();
+
         const canvas = document.getElementById("canvas");
         canvas.addEventListener("dragenter", () => (this.app.showDropDownOverlay = true));
         canvas.addEventListener("dragleave", () => (this.app.showDropDownOverlay = false));
@@ -238,6 +245,7 @@ class UIModel {
             this.app.selectedAnimations = state.animationIndices;
             this.app.animationState = true;
             this.app.graphState = true;
+            this.app.physicsState = true;
 
             if (gltf && gltf?.extensions?.KHR_materials_variants?.variants !== undefined) {
                 this.app.materialVariants = [
@@ -270,6 +278,8 @@ class UIModel {
                 this.app.customEvents = [];
             }
 
+            this.app.hasPhysics = gltf?.extensionsUsed?.includes("KHR_physics_rigid_bodies");
+
             this.app.xmp =
                 gltf?.extensions?.KHR_xmp_json_ld?.packets[
                     gltf?.asset?.extensions?.KHR_xmp_json_ld.packet
diff --git a/src/main.js b/src/main.js
index 32a81c29..0d0ff7dd 100644
--- a/src/main.js
+++ b/src/main.js
@@ -17,6 +17,9 @@ export default async () => {
     const view = new GltfView(context);
     const resourceLoader = view.createResourceLoader();
     const state = view.createState();
+
+    await state.physicsController.initializeEngine("NvidiaPhysX");
+
     state.renderingParameters.useDirectionalLightsWithDisabledIBL = true;
 
     state.graphController.addCustomEventListener("test/onStart", (event) => {
@@ -192,6 +195,9 @@ export default async () => {
                             } else {
                                 state.graphController.stopGraphEngine();
                             }
+
+                            state.physicsController.loadScene(state, state.sceneIndex);
+                            state.physicsController.resumeSimulation();
                         }
 
                         uiModel.exitLoadingState();
@@ -200,6 +206,7 @@ export default async () => {
                     })
                     .catch((error) => {
                         console.error("Loading failed: " + error);
+                        console.trace(error);
                         resourceLoader.loadGltf(undefined, undefined).then((gltf) => {
                             state.gltf = gltf;
                             state.sceneIndex = 0;
@@ -235,6 +242,7 @@ export default async () => {
             if (scene !== undefined) {
                 scene.applyTransformHierarchy(state.gltf);
                 state.userCamera.resetView(state.gltf, state.sceneIndex);
+                state.physicsController.loadScene(state, state.sceneIndex);
             }
         }),
         share()
@@ -502,6 +510,30 @@ export default async () => {
         }
     });
 
+    uiModel.physicsEnabled.subscribe((physicsEnabled) => {
+        if (physicsEnabled) {
+            state.physicsController.resumeSimulation();
+        } else {
+            state.physicsController.pauseSimulation();
+        }
+    });
+
+    uiModel.physicsStep.subscribe(() => {
+        state.physicsController.simulateStep(state, 1 / 60);
+        state.gltf.resetAllDirtyFlags();
+        redraw = true;
+    });
+
+    uiModel.physicsColliderDebug.subscribe((enabled) => {
+        state.physicsController.enableDebugColliders(enabled);
+        redraw = true;
+    });
+
+    uiModel.physicsJointDebug.subscribe((enabled) => {
+        state.physicsController.enableDebugJoints(enabled);
+        redraw = true;
+    });
+
     uiModel.animationReset.subscribe(() => {
         state.animationTimer.reset();
         redraw = true;
@@ -531,6 +563,17 @@ export default async () => {
         }
     });
 
+    uiModel.physicsReset.subscribe(() => {
+        state.physicsController.resetScene(state.gltf);
+        state.gltf.resetAnimatedProperties(state.sceneIndex);
+        state.physicsController.loadScene(state, state.sceneIndex);
+        redraw = true;
+    });
+
+    uiModel.physicsEngine.subscribe((engine) => {
+        // There are currently no other engines supported besides PhysX
+    });
+
     uiModel.hdr.subscribe((hdr) => {
         resourceLoader.loadEnvironment(hdr.hdr_path).then((environment) => {
             state.environment = environment;
@@ -599,6 +642,12 @@ export default async () => {
         redraw |= !state.animationTimer.paused && state.animationIndices.length > 0;
         redraw |= state.graphController.playing;
         redraw |= past.width != canvas.width || past.height != canvas.height;
+        redraw |= state.physicsController.enabled && state.physicsController.playing;
+
+        // Do not redraw when loading is in progress
+        if (app.loadingComponent !== undefined) {
+            redraw = false;
+        }
 
         // Refit view if canvas changes significantly
         if (
diff --git a/src/ui/ui.js b/src/ui/ui.js
index 048f4f94..a2851acb 100644
--- a/src/ui/ui.js
+++ b/src/ui/ui.js
@@ -56,6 +56,13 @@ const appCreated = createApp({
             selectedAnimationsChanged: new Subject(),
             selectedEnvironmentChanged: new Subject(),
 
+            physicsEnabledChanged: new Subject(),
+            physicsResetChanged: new Subject(),
+            physicsEngineChanged: new Subject(),
+            physicsStepChanged: new Subject(),
+            physicsColliderDebugChanged: new Subject(),
+            physicsJointDebugChanged: new Subject(),
+
             validatorChanged: new Subject(),
 
             fullheight: true,
@@ -89,9 +96,13 @@ const appCreated = createApp({
             selectedAnimations: [],
             disabledAnimations: [],
             selectedGraph: null,
+            selectedPhysicsEngine: "nvidia-physx",
+            physicsColliderDebug: false,
+            physicsJointDebug: false,
 
             animationState: true,
             graphState: true,
+            physicsState: true,
 
             validationReport: {},
             validationReportDescription: {},
@@ -134,6 +145,9 @@ const appCreated = createApp({
             selectabilityEnabled: true,
             nodeVisibilityEnabled: true,
 
+            hasPhysics: false,
+
+            activeTabIndex: 0,
             activeTab: 0,
             tabContentHidden: true,
             loadingComponent: undefined,
@@ -264,6 +278,9 @@ const appCreated = createApp({
         showGraphsTab() {
             return this.hasInteractivityGraphs && this.interactivity;
         },
+        showPhysicsTab() {
+            return this.hasPhysics;
+        },
         currentCustomEvent() {
             if (!this.selectedCustomEvent || !this.customEvents) return null;
             return this.customEvents.find((event) => event.id === this.selectedCustomEvent);
@@ -423,24 +440,24 @@ const appCreated = createApp({
                     // remove is-active class if tabs are hidden
                     event.stopPropagation();
 
-                    let navElements =
+                    const navElements =
                         document.getElementById("tabsContainer").children[0].children[0].children;
                     for (let elem of navElements) {
                         elem.classList.remove("is-active");
                     }
                 } else {
                     // add is-active class to correct element
-                    let activeNavElement =
+                    const activeNavElement =
                         document.getElementById("tabsContainer").children[0].children[0].children[
-                            item
+                            this.activeTabIndex
                         ];
                     activeNavElement.classList.add("is-active");
                 }
-                return;
             } else {
                 // reset tab visibility
                 this.tabContentHidden = false;
             }
+            this.activeTab = item;
         },
         warn(message) {
             this.$buefy.toast.open({