Configurable joint drive code

[HespKass]

Hi,
I would like to code my own simple script that moves a rigid body to a target by applying forces similarly to how the configurable joint does it. I was wondering if anyone knows what equation or code the configurable joint uses to do this. So far the best I have found is this formula

from the unity documentation which works but doesn’t take into account max force like the configurable joint does.

[Cloudwalker]

This is simply a pid controller without the I component.

The joint will be more stable as it can use the iterative nature of the solver to converge.