Inside the callback for onContactModify, I use the setTargetVelocity method from the contacts field to set the velocity of each contact. Yet, only the first contact (index zero) takes effect. Does anyone else have this issue?
That may be by design. I will bring this to the attention of someone with more detailed understanding of the contact solver pipeline.
Looks like this is a bug. It should be fixed in the next version, PhysX-3.3.3, but I’m afraid I don’t have a date for that yet.