Wales can guarantee themselves a quarter-final berth if they beat Pool D opponents Fiji next Sunday, although their place will effectively be booked two days earlier should Samoa finish with nothing from their Auckland clash against world champions South Africa.
And while Wales still possess the match-winning individual brilliance of players like Shane Williams, James Hook, Jamie Roberts and Mike Phillips, Jenkins claims the need for raw power cannot be understated.
Wales more than held their own in the physical combat with South Africa and Samoa earlier this month, which augurs well for possible further World Cup challenges down the road.
"We have played against a lot of southern hemisphere sides over the last four years or so, and I think we realise you can't sort of play fancy-dan football to beat these type of teams," he said.
"You have got to be physical, just as they are. We have worked a hell of a lot on the contact area, and I think it has shown in the way we have played.
"There has also been a lot conditioning and weights done - the guys are probably bigger and fitter than they have ever been.
"If we want to be one of the best sides, which we want to be, the contact area and the physicality is a massive part of it, winning the collisions."
Wales were dumped out of the World Cup by Fiji in Nantes four years ago, losing an epic encounter 38-34 despite outscoring their opponents on tries.
Of the team and replacements on duty that day, six players feature in Wales' current World Cup squad.
"Four years ago was a little bit different to the situation we are in now," Jenkins added.
"In a way, Fiji have maybe got nothing to lose. We have just got to concentrate on ourselves and make sure we are right.
"It's all about momentum and keeping form. I see Sunday as a big game, irrespective of what happens on Friday between South Africa and Samoa.
"We were comfortably beaten by Australia in the World Cup four years ago.
"This time around, we arguably should have won the game against South Africa, and against Samoa, we might have got turned over in that game four years ago, but we managed to come through.
"I think there are a lot of differences, all positive, to where we were at four years ago.
"It's all about momentum for us. We are up against a side that we lost to four years ago. We need to front up and maybe try to put some of the things that happened four years ago to bed.
"I think Samoa will throw everything at South Africa. They are not taking Samoa lightly, and rightly so. Samoa are more than capable of upsetting any team.
"But we have got to focus on ourselves. We've got to turn up on Sunday ready to play and ready to go. It is out of our hands what happens in the South Africa versus Samoa game.
"We are two wins away from a semi-final, maybe three from a final. It is important we take every game as it comes. Let's get through Sunday first."
Wales flew back to Hamilton from New Plymouth today, reporting no fresh injury concerns following their record 81-7 World Cup win against Namibia.
Williams (quad strain), Hook (shoulder) and flanker Dan Lydiate (ankle) were all ruled out of the Namibia clash, with an updated fitness bulletin expected tomorrow on their availability - or otherwise - to face Fiji.
Wales coach Warren Gatland made 11 changes for the Namibia game, handing first World Cup starts to players like full-back Lee Byrne, centre Scott Williams and flanker Ryan Jones.
"The challenge to the players before the game was to give us something to think about, and they certainly did that," Gatland said.
"Now we have got a few selection headaches ahead of the Fiji game, and that is exactly what we wanted.
"Obviously, we will sit down and go through the tape over the coming days, but I thought the players coming back from injury performed well and the bench made a real impact.
"The guys really went out and put their hands up for selection.
"Injury-wise, we are not too bad. A couple of players took a few knocks, but we are okay."
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