Clarification on Joint Drive Behavior with Max Force in Omniverse

Omniverse Archive General Discussion
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I have a question regarding the behavior of joint drives in Omniverse when using the Max Force parameter.

According to the documentation, the joint force is calculated by:
𝐹 = stiffness × (x_target − x) + damping × (v_target − v

My question is: If this calculated force exceeds the set Max Force, does Omniverse proportionally scale down the stiffness and damping terms by the ratio ? Or does it simply clamp the resulting force to the Max Force without adjusting stiffness and damping?

Any clarification on this behavior would be greatly appreciated.

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We clamp after evaluating the drive joint force F: PhysX/physx/source/lowleveldynamics/src/DyFeatherstoneArticulation.cpp at main · NVIDIA-Omniverse/PhysX · GitHub

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