Resolved How to slow down depenetration of overlapping colliders?

First off, have a look at the contact modification demo in the PhysicsSamples project.
It shows various cases in which contacts are modified, including a "soft contacts" modification which could give you some good pointers of what values to modify and how.

As a matter of fact, in your case you would need to modify the

VelToReachCp

quantity in the contact jacobian struct.
See here:


As you can see, we do cap the velocity but we use a different internal default value than what you desire:
3 for dynamic/dynamic pairs, and infinity for dynamic/static pairs (which would be the case in your example I suppose) instead of the desired 1.

So, in your contact modification script you can just cap the velocity again with a different max depenetration velocity:

Code (CSharp):

1.  
2. float maxDepenetrationVelocity = 1f;
3. float solveVelocity = math.min(maxDepenetrationVelocity, jac.Angular.VelToReachCp);
4.  
5. jacAngular.VelToReachCp = solveVelocity;
6.  

That should do it.
Let me know if that works.

 

Awesome! I'm happy to hear that.