the PxJoint has a getConstraint method returning a PxConstraint, that has a getForce method.
I am astonished the same is not true for PxArticulationJointReducedCoordinate.
Is there any way to detect the applied force from the joint drive for these.
Also the drive has only a PD controller (stiffness and damping), however for modeling any real servo there is need for PI(D) control loop. I have been looking over the sources, however the real
application of the drive is so burried I cannot find how I would extend the drive code.
Should I ditch the drive and make my own applying the forces externaly with smaller sim step?
The integrated joint drive have advantages with multiple iterations.