How to set impulse limits for constraints

[123uiui]

I want to set impulse limits, but I don't know how to do it. Do I need to modify the source code?

[preist-nvidia]

You can set velocity limits on rigid bodies: https://nvidia-omniverse.github.io/PhysX/physx/5.4.2/_api_build/class_px_rigid_body.html#_CPPv4N11PxRigidBody20setMaxLinearVelocityE6PxReal

[preist-nvidia]

Can you please be specific about what you want to limit? Solver impulse limits? Rigid body impulse limits?

[123uiui]

Apologies for not explaining this clearly earlier! What we actually need to adjust is the Solver impulse limits.

[123uiui]

I found the function related to impulse limits for joints in the DyCpuGpuArticulation file, specifically the computeLimitImpulse function. What we need is related to "contacts solver"

[preist-nvidia]

I think this will fit then: https://nvidia-omniverse.github.io/PhysX/physx/5.5.0/_api_build/classPxRigidBody.html#_CPPv4N11PxRigidBody27setMaxDepenetrationVelocityE6PxReal
Also works on articualtion links.

[vreutskyy]

To set contact's max impulse, use Contact Modification and PxContactSet::setMaxImpulse(...) function.