PxRigidBody interpolation/extrapolation built-in?

Hello there.
I don’t know if my mind is playing me tricks, but I think that once I’ve seen a way to get the bodies positions corrected by a given delta (say vel/angvel extrapolation), after not being able to find anything regarding that on the docs though, I’m not so sure that’s a thing. Could please somebody shed some light here? I know it’s pretty trivial to do that but if there’s something built-in I might as well just use it.
Thanks in advance.