Limiting the linear and angular velocities and computing the G-force exerted on a rigid body

[adihodos]

How can I limit the linear and angular velocity of a rigid body ? Right now if I apply torque and force to the mass center it will just gain energy. I tried to do this:

obj_body->setLinearLockAxisFactor({ _fm->limits.max_linear_velocity, _fm->limits.max_linear_velocity, _fm->limits.max_linear_velocity });
obj_body->setAngularLockAxisFactor({ 0.25f, 0.25f, 0.25f });

It doesn't have any effect, unless I set it to 0, which completely disables any movement/rotation.
Also it it possible to compute the G-forces exerted on a rigid body during rotation/movement ?