There’s a few possibilities to get better physics via Nvidia Flex
https://github.com/NvPhysX/UnrealEngine
You have to implement the SDK yourself as the distros are old - or you could just use the older engine, which to be honest probably works A LOT better than the current sorry excuse for software they have been releasing.
Only things to “know”
is that the built in nvidia implementation is horribly bad. Has been for years. No one at epic ever gave a s*it about fixing it.
And that Chaos is currently even worse, but they may actually care about fixing it.
I would suggest you get a CHAOS branch and try it out. It can easily be a lot worse than the default launcher versions. It can also be a lot better. Depends on the current state, which being in development is rather fluid.
So you can get really bad stuff happening one day, and it can be running fine the day after (if you re-build from fresh source ofc).
All that aside.
pysmat works more-or less. The primary function for me has always been to provide different sounds for footsteps rather than change how physics work.
But ice can be made slippery and it works ok-ish.
There’s a few reports of the object weight not being taken into account for calculations.
So that may be something to keep in mind… relevant to physx