From 1d09f2f559cf94ef7e7c1f6164b0d2ae8a82466b Mon Sep 17 00:00:00 2001
From: Zach Tang <zachtangoj@gmail.com>
Date: Fri, 22 May 2026 18:02:27 -0700
Subject: [PATCH] Expose impulse joint motor max force

---
 src.ts/dynamics/impulse_joint.ts | 8 ++++++++
 src/dynamics/impulse_joint.rs    | 6 ++++++
 2 files changed, 14 insertions(+)

diff --git a/src.ts/dynamics/impulse_joint.ts b/src.ts/dynamics/impulse_joint.ts
index 0c637ddf..a69c38ef 100644
--- a/src.ts/dynamics/impulse_joint.ts
+++ b/src.ts/dynamics/impulse_joint.ts
@@ -272,6 +272,14 @@ export class UnitImpulseJoint extends ImpulseJoint {
         );
     }
 
+    public setMotorMaxForce(maxForce: number) {
+        this.rawSet.jointSetMotorMaxForce(
+            this.handle,
+            this.rawAxis(),
+            maxForce,
+        );
+    }
+
     public configureMotorVelocity(targetVel: number, factor: number) {
         this.rawSet.jointConfigureMotorVelocity(
             this.handle,
diff --git a/src/dynamics/impulse_joint.rs b/src/dynamics/impulse_joint.rs
index bfbdf128..e1571e8d 100644
--- a/src/dynamics/impulse_joint.rs
+++ b/src/dynamics/impulse_joint.rs
@@ -108,6 +108,12 @@ impl RawImpulseJointSet {
         })
     }
 
+    pub fn jointSetMotorMaxForce(&mut self, handle: FlatHandle, axis: RawJointAxis, maxForce: f32) {
+        self.map_mut(handle, |j| {
+            j.data.set_motor_max_force(axis.into(), maxForce);
+        })
+    }
+
     /*
     #[cfg(feature = "dim3")]
     pub fn jointConfigureBallMotorVelocity(