Initial starting point for experimentation (per tire) could for example be: 4x vehicle weight/ tire amount. How fast the vehicle will raise out of the penetrating object depends on the force cap. So whenever contact forces are extreme, they get capped to a certain configurable limit -> this means the vehicle (or object) will slowly rise out of the ground whenever there are high penetration values, instead of beeing catapulted.
One possible solution could be to limit the maximum suspension force per tire generated by physics contacts via a vehicle based config parameter. wheel suddenly 10cm in the "ground" due to ray cast falling onto another collision object, or two objects moving at very fast speeds and colliding, with collision speeds too fast for simulation step to resolve it properly) -> Huge forces, and unphysical behaviour. Works bad if objects suddenly penetrate by a large amount (e.g. This method works ok if objects come to rest or collide normally. Means, there will always be a tiny amount of "sinking into the ground" because at 0 penetration force is 0. The "rejection force" is usally calculated by some spring factor * the distance of the penetration ± damping forces. In a force based system you need to create forces so that penetrating objects reject each other until they are no longer penetrating each other (or only ever so slightly). "explosive contact" behaviour is a key problem in physics modelling.
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