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Hi, glad you looked at the tutorials. Here's the complete list for context https://github.com/ignitionrobotics/ign-physics/tree/main/tutorials

  1. To answer your first question, the physics plugin is only an interface to physics engine and cannot modify physics engine behavior. To do that, you will need to modify the particular physics engine source code.
  2. To see how to link custom physics engine to ignition, you can follow the tutorial here https://github.com/ignitionrobotics/ign-physics/blob/main/tutorials/09-set-up-physics-engine-tpe.md. Basically you will need to implement a physics engine API, and set it up following the example of TPE https://github.com/ignitionrobotics/ign-physics/tree/main/tpe, then write physics plugin feature for the physics engine.
  3. In the tutorial linked above, there is a minimum example focusing on EntityManagement feature in physics plugin and implementation in TPE.

Hope this helps