I am making a game where you fly a cargo hovercraft. For now the hovercraft is just a rectangle rigidbody with 4 engines placed symmetrically, once for each corner. Making the hovercraft hover on its own is simple: each engine applies an upwards force of vehicle_mass * 9.81f / number_of_engines. But if i add some cargo (rigibodies on top of the hovercraft), how can i calculate the new forces needed for each engine to keep the vehicle in place, avoiding not only its descent, but also the rotation that happens when the cargo weight is not evenly distributed on its top surface? And what if the engines are not symmetrically distributed? Seems very complicated, especially considering that you cant implicitly get the mass of the added cargo, and there is no method to get the resulting force applied on a rigidbody (there is a method that gets it but only considers AddForces methods and not forces resulting from collisions). I guess the proper way to go would probably make the hovercraft kinematic, and simulate interactions with the enviroment trough scripting, but if you have any tips or ideas please tell me- Thanks for reading.