How to Get or Set Error Reduction Parameter (ERP) in PhysX (Similar to Bullet ERP)?

[oneanime]

We are currently migrating our project from Bullet Physics to NVIDIA PhysX. In Bullet, we frequently use the Error Reduction Parameter (ERP) to control how quickly positional errors in constraints are corrected.

As part of the migration, we need to understand how to achieve a similar effect in PhysX. From our research, it seems that PhysX does not have a direct global ERP parameter, but instead, it relies on joint stiffness and damping to handle error correction.