Yeah that’s pretty much it! I calculate what I want the velocity and angular velocity to be, and set those at the end of the function (I calculate all acceleration etc myself). Since I’m adding to the existing velocities calcualte by the physics engine, it still responds to collision etc. and I don’t have to create a new PhysX scene or anything fancy like that.
Really interested to see your implementation though, sounds like you went deeper than I did. I need to restart my system from scratch soon, it’s been so long since I worked on it I completely forgot where I was with it - and as it never worked 100% I may as well restart anyways…