Apply even rotation force over entire physics object?

I can currently rotate a physics tree from say the root, but this leaves the branches flailing behind.

I’d like to rotate the entire physics tree, as if the rotational force is acting on every physics body (from the root all the way down to the branches)

I wonder if there would be any PhysX APIs or if I’d need to do it manually (recursing through every body in the physics tree and apply linear forces to each on tick) :confused:

Thanks for any help anyone can give,