PhysX Source Code Editing

I recently learned that there is access to the source code of the physics engine. I need that when two or more objects collide (collide only), no angular impulse is generated, or a zero angular impulse is generated so that the objects do not start rotating on collision. Alas, this cannot be done using the editor’s tools…
How can i do this through the source code? I have not found any tutorials at all on editing the source code of the physics engine for UE.