Thanks for the link. My interpretation of this documentation is that the rotational part is different in that you can use SLERP or angular vs twist to determine the error in position and velocity. However, I believe that the overall spirit of the linear formula still applies in that they calculate an error (position or velocity) and then multiply it by some strength coefficient.
If you turn on damping without any spring strength and use angular velocity set to true you’ll see the object still moves. This would not be the case if it was a traditional spring like the ones used in PhAT for example.
I will double check with NVIDIA to make sure, thanks for bringing it up.
UPDATE: I just had a quick chat with NVIDIA about this and they confirm this interpretation. Please let me know if you run into any more issues