contact modify together with constraint collision not working

[yananZZZZ]

Hi,

I try to implement the effect that a conveyor belt that move vertically by a sliding joint can see the attachment. What's I have done is just used contact modify callback to set the targetvelocity for those contact pair to make them the same direction as my conveyor. But I found out that my obstacle drop right through my conveyor, it looks like a contact solver fails to handle penetration after contact modification.
I just want to know if there is some tips or limitation of contact solver and contact modify.

thank you.

[preist-nvidia]

So top is implemented using a sliding distance joint?

The contact modification approach should work - this is how we implement conveyor belts in Omniverse Physics as well. You are just setting a target velocity using PxContactSet::setTargetVelocity?

[yananZZZZ]

Hi

I found the root cause eventually. it because I use the setDominanceGroup function wrongly. After I set the correct dominance group, every works prefectly.

thank you