Trying out more of the APE scenes.
https://www.youtube.com/watch?v=8TZ9_B_tvLk&feature=youtu.be
What I said before for ropes still apply: it is correct that you don’t always get something working flawlessly out of the box, but that’s more a side-effect of the iterative solver than a bug or defect in the software. And most importantly, there are often several ways to make things work anyway. I think the APE guys didn’t try very hard because in this case it took 3 API calls to make things work better:
j->setProjectionLinearTolerance(0.0f);
j->setProjectionAngularTolerance(0.0f);
j->setConstraintFlag(PxConstraintFlag::ePROJECTION, true);
The video is using regular joints. But I suspect that, as for ropes, this is a case for the articulations feature. They probably would give even better results - I may try later.